Solar panel installation system

ABSTRACT

A solar panel installation system includes a solar panel unloading machine, a solar panel carrier machine, and a solar panel installation machine. The solar panel unloading machine is configured to autonomously interact with a shipping device carrying a plurality of solar panels to unload the plurality of solar panels from the shipping device and autonomously transfer the plurality of solar panels to the solar panel carrier machine. The solar panel carrier machine is configured autonomously transport the plurality of solar panels to a location proximate where the plurality of solar panels are to be installed. The solar panel installation machine is configured to autonomously pick up a respective solar panel of the plurality of solar panels from the solar panel carrier machine and autonomously provide the respective solar panel to an installation location where the respective solar panel can be secured to a solar panel support.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application claims the benefit of and priority to U.S. ProvisionalApplication No. 63/390,562, filed on Jul. 19, 2022, U.S. ProvisionalApplication No. 63/390,566, filed on Jul. 19, 2022, U.S. ProvisionalApplication No. 63/390,490, filed on Jul. 19, 2022, U.S. ProvisionalApplication No. 63/390,537, filed on Jul. 19, 2022, U.S. ProvisionalApplication No. 63/523,271, filed on Jun. 26, 2023, U.S. ProvisionalApplication No. 63/523,282, filed on Jun. 26, 2023, U.S. ProvisionalApplication No. 63/523,226, filed on Jun. 26, 2023, and U.S. ProvisionalApplication No. 63/510,284, filed on Jun. 26, 2023, the entiredisclosures of which are hereby incorporated by reference herein.

BACKGROUND

The present disclosure relates generally to solar panels. Morespecifically, the present disclosure relates to the installation ofsolar panels.

SUMMARY

At least one embodiment relates to a solar panel installation system.The solar panel installation system includes a solar panel unloadingmachine, a solar panel carrier machine, and a solar panel installationmachine. The solar panel unloading machine is configured to autonomouslyinteract with a shipping device carrying a plurality of solar panels tounload the plurality of solar panels from the shipping device andautonomously transfer the plurality of solar panels to the solar panelcarrier machine. The solar panel carrier machine is configuredautonomously transport the plurality of solar panels to a locationproximate where the plurality of solar panels are to be installed. Thesolar panel installation machine is configured to autonomously pick up arespective solar panel of the plurality of solar panels from the solarpanel carrier machine and autonomously provide the respective solarpanel to an installation location where the respective solar panel canbe secured to a solar panel support.

Another embodiment relates to a solar panel installation system. Thesolar panel installation system includes a solar panel unloading machineconfigured to unload a plurality of solar panels from a shipping device,a solar panel carrier machine configured to receive the plurality ofsolar panels unloaded by the solar panel unloading machine and transportthe plurality of solar panels to a location proximate where theplurality of solar panels are to be installed, and a solar panelinstallation machine configured to pick up a respective solar panel ofthe plurality of solar panels from the solar panel carrier machine andprovide the respective solar panel to an installation location where therespective solar panel can be secured to a solar panel support. Thesolar panel unloading machine includes a first boom, a carriagepivotably coupled to an end of the first boom, a plurality of rollerspositioned along a bottom portion of the carriage, and a pair of forkscoupled to the carriage. The pair of forks are configured to engage witha pallet or support structure upon which the plurality of solar panelsare disposed. The solar panel carrier machine includes a carrierdefining a stowage area configured to receive the plurality of solarpanels. At least one of a width or a depth of the carrier is adjustableto facilitate varying a size of the stowage area. An angle oforientation of the carrier is adjustable. The solar panel installationmachine includes a second boom and an implement coupled to an end of thesecond boom. The implement includes a track, a robotic arm coupled toand translatable along the track, and a grabber assembly coupled to therobotic arm. The grabber assembly is configured to engage with andfacilitate picking up the respective solar panel.

Another embodiment relates to a solar panel installation system. Thesolar panel installation system includes a solar panel unloading machineincluding a first wireless communications interface, a solar panelcarrier machine including a second wireless communications interface,and a solar panel installation machine including a third wirelesscommunications interface. The solar panel unloading machine isconfigured to unload a plurality of solar panels from a shipping device.The first wireless communications interface and the second wirelesscommunications interface are configured to facilitate first wirelesscommunications between the solar panel unloading machine and the solarpanel carrier machine so that the solar panel unloading machine cantransfer the plurality of solar panels to the solar panel carriermachine. The solar panel carrier machine is configured transport theplurality of solar panels to a location proximate where the plurality ofsolar panels are to be installed. The second wireless communicationsinterface and the third wireless communications interface are configuredto facilitate second wireless communications between the solar panelcarrier machine and the solar panel installation machine to coordinatemotion between the solar panel installation machine and the solar panelcarrier machine as the solar panel installation machine (a) picks upeach solar panel of the plurality of solar panels from the solar panelcarrier machine and (b) provides each solar panel to a correspondinginstallation location to be secured to a solar panel support.

This summary is illustrative only and is not intended to be in any waylimiting. Other aspects, inventive features, and advantages of thedevices or processes described herein will become apparent in thedetailed description set forth herein, taken in conjunction with theaccompanying figures, wherein like reference numerals refer to likeelements.

BRIEF DESCRIPTION OF THE FIGURES

The disclosure will become more fully understood from the followingdetailed description, taken in conjunction with the accompanyingfigures, wherein like reference numerals refer to like elements, inwhich:

FIG. 1 is a diagram illustrating removal of solar panels from a shippingcontainer, transportation of the solar panels to an installation site,and installation of the solar panels at the installation site, accordingto an exemplary embodiment.

FIG. 2 is a flow diagram of a process for transporting and installingsolar panels at an installation site, according to an exemplaryembodiment.

FIG. 3 is a block diagram of a control system having a cloud computingsystem for autonomously operating various machinery to autonomouslytransport and install solar panels, according to an exemplaryembodiment.

FIG. 4 is a perspective view of a system of solar panel stations,according to an exemplary embodiment.

FIG. 5 is a perspective view of a solar panel station, according to anexemplary embodiment.

FIG. 6 is a side view of another solar panel station, according to anexemplary embodiment.

FIG. 7 is a side schematic view of an installation system, according toan exemplary embodiment.

FIG. 8 is a top schematic view of the installation system of FIG. 7 .

FIG. 9 is a side schematic view of another installation system,according to an exemplary embodiment.

FIG. 10 is a rear schematic view of an installation system, according toan exemplary embodiment.

FIG. 11 is a side schematic view of a storage device, according to anexemplary embodiment.

FIG. 12 is a side schematic view of another storage device, according toan exemplary embodiment.

FIG. 13 is a schematic view of an installation vehicle, a deliveryvehicle, and the storage device of FIG. 11 , according to an exemplaryembodiment.

FIG. 14 is a perspective view of a storage device, according to anexemplary embodiment.

FIG. 15 is another perspective view of the storage device of FIG. 14 .

FIG. 16 is a top schematic view of another installation system,according to an exemplary embodiment.

FIG. 17 is a side schematic view of another installation system,according to an exemplary embodiment.

FIG. 18 is a top schematic view of the alignment tool of FIGS. 16 and 17.

FIG. 19 is a front schematic view of another installation system,according to an exemplary embodiment.

FIG. 20 is a side schematic view of the installation system of FIG. 19 .

FIG. 21 is a front schematic view of the installation vehicle of FIG. 19and a delivery vehicle, according to an exemplary embodiment.

FIG. 22 is a top schematic view of an installation system, according toan exemplary embodiment.

FIG. 23 is a side schematic view of the installation system of FIG. 22 .

FIG. 24 is a side schematic view of another installation system,according to an exemplary embodiment.

FIG. 25 is a side schematic view of another installation system,according to an exemplary embodiment.

FIG. 26 is a top schematic view of another installation system,according to an exemplary embodiment.

FIG. 27 is a side schematic of the installation system of FIG. 26 ,according to an exemplary embodiment.

FIG. 28 is a side schematic view of another installation system,according to an exemplary embodiment.

FIG. 29 is a side view of another installation vehicle, according to anexemplary embodiment.

FIG. 30 is another side view of the installation vehicle of FIG. 29 .

FIG. 31 is a side view of another installation vehicle, according to anexemplary embodiment.

FIG. 32 is another side view of the installation vehicle of FIG. 31 .

FIG. 33 is a side view of another installation vehicle, according to anexemplary embodiment.

FIG. 34 is another side view of the installation vehicle of FIG. 33 .

FIG. 35 is a perspective view of an implement, according to an exemplaryembodiment.

FIG. 36 is a top view of the implement of FIG. 35 .

FIG. 37 is a top schematic view of another installation system,according to an exemplary embodiment.

FIG. 38 is a top schematic view of another installation system,according to an exemplary embodiment.

FIG. 39 is a perspective view of an installation vehicle, according toan exemplary embodiment.

FIG. 40 is a side view of another installation vehicle and deliveryvehicle, according to an exemplary embodiment.

FIG. 41 is a perspective view of an installation vehicle, according toan exemplary embodiment.

FIG. 42 is a perspective view of an autonomous working vehicle,according to an exemplary embodiment.

FIG. 43 is a perspective view of the autonomous working vehicleillustrated in FIG. 41 , according to an exemplary embodiment.

FIG. 44 is a perspective view of the autonomous working vehicleillustrated in FIG. 41 , according to an exemplary embodiment.

FIG. 45 is a block diagram of a system including the autonomous workingvehicle illustrated in FIG. 42 and a robotic arm, according to anexemplary embodiment.

FIG. 46 is a perspective view of a delivery vehicle, according to anexemplary embodiment.

FIG. 47 is a perspective view of a carrier for use in the deliveryvehicle of FIG. 46 , according to an exemplary embodiment.

FIG. 48 is a perspective view of a delivery vehicle, according to anexemplary embodiment.

FIG. 49 is a perspective view of a delivery vehicle, shown without anysolar panels, according to an exemplary embodiment.

FIG. 50 is a perspective view of the delivery vehicle of FIG. 49 , shownwith solar panels, according to an exemplary embodiment.

FIG. 51 is a perspective view of a delivery vehicle, shown without anysolar panels, according to an exemplary embodiment.

FIG. 52 is a perspective view of the delivery vehicle of FIG. 51 , shownwith solar panels, according to an exemplary embodiment.

FIG. 53 is a perspective view of a delivery vehicle, shown without anysolar panels and tracks, according to an exemplary embodiment.

FIG. 54 is a perspective view of a delivery vehicle, shown without anysolar panels, according to an exemplary embodiment.

FIG. 55 is a perspective view of the delivery vehicle of FIG. 54 , shownwith solar panels, according to an exemplary embodiment.

FIG. 56 is a perspective view of a delivery vehicle, shown without anysolar panels, according to an exemplary embodiment.

FIG. 57 is a perspective view of the delivery vehicle of FIG. 56 , shownwith solar panels, according to an exemplary embodiment.

FIG. 58 is a perspective view of a carrier, according to an exemplaryembodiment.

FIG. 59 is a perspective view of the carrier illustrated in FIG. 58 ,according to an exemplary embodiment.

FIG. 60 is a perspective bottom view of the carrier illustrated in FIG.58 , according to an exemplary embodiment.

FIG. 61 is a perspective view of components of the carrier illustratedin FIG. 58 , according to an exemplary embodiment.

FIG. 62 is a perspective view of components of the carrier illustratedin FIG. 58 , according to an exemplary embodiment.

FIG. 63 is a perspective rear view of the carrier illustrated in FIG. 58, according to an exemplary embodiment.

FIG. 64 is a perspective view of the carrier illustrated in FIG. 58 ,according to an exemplary embodiment.

FIG. 65 is a perspective view of an autonomous delivery vehicle,according to an exemplary embodiment.

FIG. 66 is a perspective view of the autonomous delivery vehicleillustrated in FIG. 65 , according to some embodiment.

FIG. 67 is a perspective view of the autonomous delivery vehicleillustrated in FIG. 65 , according to some embodiment.

FIG. 68 is a perspective side view of the autonomous delivery vehicleillustrated in FIG. 65 , according to some embodiment.

FIG. 69 is a perspective side view of the autonomous delivery vehicleillustrated in FIG. 65 , according to some embodiment.

FIG. 70 is a perspective side view of the autonomous delivery vehicleillustrated in FIG. 65 , according to some embodiment.

FIG. 71 is a perspective front view of the autonomous delivery vehicleillustrated in FIG. 65 , according to some embodiment.

FIG. 72 is a perspective view of a telehandler for unloading the solarpanels from the shipping container, according to an exemplaryembodiment.

FIG. 73 is a side view of an implement assembly of the telehandler ofFIG. 72 , according to an exemplary embodiment.

FIG. 74 is a side view of another implement assembly of the telehandlerof FIG. 72 , according to an exemplary embodiment.

FIG. 75 is another side view of the implement assembly of FIG. 73 ,according to an exemplary embodiment.

FIG. 76 is a side view of another implement assembly for the telehandlerof FIG. 72 including a vision system, according to an exemplaryembodiment.

FIG. 77 is a block diagram of a control system for the implementassembly of FIG. 76 , according to an exemplary embodiment.

FIG. 78 is a diagram of a graphical user interface that may be presentedto an operator to guide proper alignment with forks of the telehandlerof FIG. 76 with a target, according to an exemplary embodiment.

FIG. 79 is a diagram illustrating an underside of a solar panelinstallation, according to an exemplary embodiment.

FIG. 80 is a diagram illustrating a front of the solar panelinstallation of FIG. 79 , according to an exemplary embodiment.

FIG. 81 is a diagram illustrating a cross-section of the solar panelinstallation of FIG. 79 , including a clamp, according to an exemplaryembodiment.

FIG. 82 is a diagram illustrating a cross-section of the solar panelinstallation of FIG. 79 , including a clamp coupled to a solar panel,according to an exemplary embodiment.

FIG. 83 is a diagram illustrating a side of the clamp of FIG. 81 ,according to an exemplary embodiment.

FIG. 84 is a diagram illustrating a cross-section of the solar panelinstallation of FIG. 79 , including a vertically split clamp, accordingto an exemplary embodiment.

FIGS. 85 and 86 are diagrams illustrating cross-sections of the solarpanel installation of FIG. 79 , including a horizontally split clamp,according to an exemplary embodiment.

FIGS. 87 and 88 are diagrams illustrating cross-sections of the solarpanel installation of FIG. 79 , including a clamp including overlappingsections, according to an exemplary embodiment.

FIG. 89 is a diagram illustrating a top of the solar panel installationof FIG. 79 with a clamp, according to an exemplary embodiment.

FIG. 90 is a flow diagram of a process for installing solar panels andclamps at an installation site, according to an exemplary embodiment.

FIG. 91 is a perspective view of an environment including an AutonomousDelivery Vehicle (ADV), an Autonomous Working Vehicle (AWV), and anAutonomous Robotic Arm (ARA), according to an exemplary embodiment.

FIG. 92 is a block diagram of a system for use in solar panelinstallation, according to an exemplary embodiment.

FIG. 93 is a block diagram of a process for communication informationbetween the ADV, the AWV, and the ARA illustrated in FIG. 91 , accordingto an exemplary embodiment.

FIG. 94 is a block diagram of a process for communication informationbetween the ADV, the AWV, and the ARA illustrated in FIG. 91 , accordingto an exemplary embodiment.

FIG. 95 is a block diagram of a process for communication informationbetween the ADV, the AWV, and the ARA illustrated in FIG. 91 , accordingto an exemplary embodiment.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate certain exemplaryembodiments in detail, it should be understood that the presentdisclosure is not limited to the details or methodology set forth in thedescription or illustrated in the figures. It should also be understoodthat the terminology used herein is for the purpose of description onlyand should not be regarded as limiting.

According to an exemplary embodiment, an installation system includes asupport structure, a series of solar panels configured to be coupled tothe support structure, and an installation vehicle configured totranslate relative to the support structure, the installation vehicleincluding a platform configured to support the series of solar panels,an implement coupled to the platform and configured to selectivelycouple to at least one of the series of solar panels, rotate about afirst axis relative to the platform while coupled to the at least one ofthe series of solar panels, transport the at least one of the series ofsolar panels to a desired location relative to the support structure,and selectively decouple from the at least one of the series of solarpanels in response to the at least one of the series of solar panelsbeing coupled to the support structure.

According to various embodiments, the installation vehicle includes anaxel coupled to a first wheel and a second wheel such that the supportstructure is positioned between the first when and the second wheel asthe installation vehicle translates relative to the support structure.According to various embodiments, the implementation is configured torotate about a second axis that is perpendicular to the first axis.According to various embodiments, the implementation is configured totranslate along the first axis to adjust a height difference between theplatform and the implement. According to various embodiments, theimplementation comprises a cantilever beam coupled to the platformproximate a first end of the cantilever beam such that a second end ofthe cantilever beam is unsupported. According to various embodiments,the implementation comprises a tower and a guy wire coupled to the towerand the cantilever beam between the first end and the second end of thecantilever beam. According to various embodiments, the installationsystem further includes an alignment device coupled to the platform andthe support structure, the alignment device being configured totranslate along the support structure and receive the at least one ofthe series of solar panels within a central cavity from theimplementation. According to various embodiments, the installationsystem further comprising a series of mounting brackets configured toindividually secure the at least one of the series of solar panels tothe support structure, wherein the implement is configured to secure atleast one of the series of mounting brackets to the support structure.According to various embodiments, the support structure includes atorque tube comprising a flat portion configured to support the at leastone of the series of solar panels. According to various embodiments, theinstallation system further includes a delivery vehicle coupled to theinstallation vehicle via a tether having a fixed length.

According to various embodiments, the installation vehicle is configuredto transport one or more solar panels to a desired position with respectto the support structure. According to various embodiments, theinstallation vehicle is configured to secure one or more mountingbrackets to the support structure. According to various embodiments, theinstallation vehicle is configured to secure one or more solar panels tothe one or more mounting brackets. According to various embodiments, theinstallation vehicle translates along one side of the support structure.According to other embodiments, the installation vehicle straddles thesupport structure and translates over the support structure. Accordingto various embodiments, the installation vehicle includes one or moresensors configured to detect the support structure and at least one ofthe series of solar panels. According to various embodiments, acontroller is communicably coupled to the one or more sensors. Accordingto various embodiments, the controller causes the installation vehicleto autonomously transport one or more solar panels to a desiredlocation. According to various embodiments, the controller causes theinstallation vehicle to autonomously secure the one or more solar panelsto the support structure. According to various embodiments, theinstallation vehicle is communicably coupled to the delivery vehiclesuch that an operator of the delivery vehicle may control theinstallation vehicle from the delivery vehicle.

According to an exemplary embodiment, a delivery vehicle includes achassis, one or more tractive elements coupled to the chassis, a batterymodule laterally provided relative to the chassis, and a carrierlaterally provided relative to the chassis. The delivery vehicle may beconfigured to transport solar panels between a hub and a jobsite. Uponreaching the jobsite, the solar panels may be unloaded via aninstallation vehicle. In one example, the delivery vehicle maycontinuously drive next to the installation vehicle, where theinstallation vehicle may unload one or multiple solar panels at a time.

In some embodiments, the solar panels may be oriented vertically,horizontally, inverted, upright, etc., where the solar panels areoriented for easy loading and unloading. In still some embodiments, thecarrier may include a motion device that is configured to reorient ormove the carrier to put the solar panels into a different orientation.

According to an exemplary embodiment, an autonomous, semi-autonomous, ormanually operated vehicle include an implement assembly for removingpallets of solar panels from a shipping container. The implementassembly may include a vision system including a camera and a distancesensor to determine a relative position and orientation of the implementassembly relative to the shipping container. A control system uses therelative position and orientation of the implement assembly tofacilitate autonomous, semi-autonomous, or manual operation of thevehicle to unload the solar panels from the shipping container.

Overall Installation Process

Referring to FIGS. 1-3 , solar panels 16 may be removed from a shippingcontainer 14, transported to an installation site, and installed at theinstallation site. Other systems include manually removing, operatingmachinery, and installing the solar panels by hand using vehicles whichare not specifically tailored for handling solar panels. These systemsmay result in a time-consuming installation process, and the solarpanels may be damaged during the process of installation. The systemsand methods described herein provide various embodiments that facilitateautonomous or semi-autonomous unloading, transportation, and/orinstallation of solar panels using machinery that is specificallydesigned to handle solar panels. The machinery may be controlledremotely (e.g., by a cloud computing system) or locally (e.g., at asolar farm) to facilitate operation of the system.

Referring to FIG. 1 , a solar panel installation system 10 is shownaccording to an exemplary embodiment. The solar panel installationsystem 10 handles processing (e.g., transportation and installation) ofsolar panels 16 from an unloading site 12 a to an installation site 12c, according to an exemplary embodiment. The shipping container 14within which the solar panels 16 are located is positioned at theunloading site 12 a (e.g., by a semi truck, by a crane, by a boat,etc.). The shipping container 14 may be a shipping container or trailer(e.g., an ISO container, a flatbed trailer, a lowboy trailer, a stepdeck trailer, an enclosed or box trailer, etc.). The shipping container14 may be enclosed or open to the surrounding environment. After thesolar panels 16 are unloaded from inside the shipping container 14, thesolar panels 16 may undergo transportation operations along a route 12 buntil the solar panels 16 arrive at the installation site 12 c where thesolar panels 16 are to be installed.

When the shipping container 14 first arrives at the unloading site 12 a(e.g., at a side of a road, at a bay, at an unloading area, in a hanger,in a garage, an edge of a field, etc.) that is within a certain distanceof the installation site 12 c (e.g., within a distance of severalmiles), the shipping container 14 may be opened (e.g., by operatingdoors) to allow access to the solar panels 16. Unloading machinery 18(e.g., a vehicle, equipment, an unloading apparatus, a transportationvehicle, a processing vehicle, etc.) may operate to unload the solarpanels 16 from the shipping container 14 (e.g., removably coupling witha pallet of multiple of the solar panels 16), and load the solar panels16 onto a transportation vehicle 20. The unloading machinery 18 mayrepeat the steps of unloading solar panels 16 from the shippingcontainer 14, and loading the transportation vehicle 20 until thetransportation vehicle 20 is loaded to a full or desired capacity.

Once the transportation vehicle 20 is loaded to a desired capacity, thetransportation vehicle 20 may operate to transport from the unloadingsite 12 a to the installation site 12 c along the route 12 b. In someembodiments, the transportation operations performed by thetransportation vehicle 20 are performed autonomously orsemi-autonomously. In some embodiments, the transportation vehicle 20 isan all-terrain vehicle that is configured to transport across bumpy oruneven terrain (e.g., through a field or an off-road environment).

Once the transportation vehicle 20 arrives at the installation site 12c, the transportation vehicle 20 may travel proximate a frame 26 ontowhich the solar panels 16 are to be installed. An installation vehicle22 (e.g., a vehicle, a machine, machinery, a robot, robotic equipment,equipment, etc.) includes an implement 24 (e.g., a robotic arm, anarticulable arm, connected linkages, grabbers, claws, etc.) that isconfigured to grasp (e.g., removably couple with) one of the solarpanels 16, and place the solar panel 16 onto the frame 26 forinstallation. In some embodiments, the implement 24 is also configuredto couple the solar panel 16 onto the frame 26. In some embodiments, theinstallation vehicle 22 is configured to cooperate with one or morelocal or installation devices at the installation site 12 c that operateto secure (e.g., insert fasteners, apply interlocking members, etc.) thesolar panels onto the frame 26.

Referring to FIG. 2 , a flow diagram of a process 30 or method for theshipping, transportation, and installation of solar panels at a field(e.g., a solar farm) or area of land includes steps 32-40, according toan exemplary embodiment. In some embodiments, the process 30 may beperformed to autonomously or semi-autonomously process solar panels(e.g., from a factory) to final installation on a frame in a solarfield.

The process 30 includes transporting a container having solar panels toan unloading site (step 32), according to an exemplary embodiment. Insome embodiments, step 32 includes transporting a shipping container toan unloading site that is at a field or area of land where a solar farmis located, or is to be located once all the solar panels are installed.The step 32 may be performed by shipping (e.g., via a semi-truck) thecontainer from a factory, a distribution plant, etc., to the unloadingsite. In some embodiments, step 32 is performed by a truck thattransports the shipping container 14.

The process 30 also includes operating machinery at the unloading site12 a to remove the solar panels 16 from the shipping container 14 andload the solar panels 16 onto transportation machinery (step 34),according to an exemplary embodiment. In some embodiments, step 34includes operating the unloading machinery 18 to remove the solar panels16 from the shipping container 14 and load the solar panels 16 onto thetransportation vehicle 20. In some embodiments, the step 34 is performedautonomously or semi-autonomously by the unloading machinery 18.

The process 30 also includes operating the transportation machinery totransport the solar panels 16 along a route 12 b from the unloading site12 a to an installation site 12 c for the solar panels 16 (step 36),according to an exemplary embodiment. In some embodiments, step 36includes autonomously, semi-autonomously, or manually operating thetransportation vehicle 20 to transport the solar panels 16 to theinstallation site 12 c. In some embodiments, step 36 includes drivingthe transportation machinery along an off-road route to a specificlocation where solar panels 16 are being installed on a frame member.

The process 30 also includes operating equipment to unload the solarpanels 16 from the transportation machinery (step 38) and installing thesolar panels 16 on a structure at the installation site (step 40),according to an exemplary embodiment. In some embodiments, step 38and/or step 40 is/are performed by the installation vehicle 22. In someembodiments, step 40 includes securing the solar panels 16 onto a framemember (e.g., the frame 26). Step 40 may be performed manually (e.g., bya crew) or semi-autonomously by use of an implement (e.g., a crane, theimplement 24, etc.).

Referring to FIG. 3 , a control system 100 for any of the vehicles ormachinery shown in FIGS. 1 and 2 includes a cloud computing system 110(e.g., including one or more servers) that is configured to communicatewith any of the transportation vehicles 20, the unloading machinery 18,and/or the installation vehicle(s) 22, according to an exemplaryembodiment. In some embodiments, any of the transport vehicle(s) 20, theunloading machinery 18, and the installation vehicle(s) 22 each includea controller 102 and a wireless transceiver 112 that are configured tocommunicate with the cloud computing system 110. The cloud computingsystem 110 may obtain output data (e.g., sensor data, operational data,engine control unit data, transmission control unit data, globalpositioning system data, etc.) from any of the transportation vehicles20, the unloading machinery 18, and the installation vehicles 22. Insome embodiments, the cloud computing system 110 is configured toorchestrate control of the transportation vehicles 20, the unloadingmachinery 18, and/or the installation vehicles 22 by providing controldata. The transportation vehicles 20, the unloading machinery 18, and/orthe installation vehicles 22 are configured to obtain the control datafrom the cloud computing system 110 via their wireless transceivers 112and perform actions associated with the control data (e.g., driving,moving implements, etc.) to autonomously or semi-autonomously performthe process 30 as illustrated in FIG. 1 .

The controllers 102 of the transportation vehicles 20, the unloadingmachinery 18, and the installation vehicles 22 each include processingcircuitry 104 including a processor 106 and memory 108. The processingcircuitry 104 may be communicably connected to a communicationsinterface such that the processing circuitry 104 and the variouscomponents thereof may send and receive data via the communicationsinterface. The processor 106 may be implemented as a general purposeprocessor, an application specific integrated circuit (ASIC), one ormore field programmable gate arrays (FPGAs), a group of processingcomponents, or other suitable electronic processing components.

The memory 108 (e.g., memory, memory unit, storage device, etc.) mayinclude one or more devices (e.g., RAM, ROM, Flash memory, hard diskstorage, etc.) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent application. The memory 108 may be or include volatile memory ornon-volatile memory. The memory 108 may include database components,object code components, script components, or any other type ofinformation structure for supporting the various activities andinformation structures described in the present application. Accordingto an exemplary embodiment, the memory 108 is communicably connected tothe processor 106 via the processing circuitry 104 and includes computercode for executing (e.g., by the processing circuitry 104 and/or theprocessor 106) one or more processes described herein.

In some embodiments, the controller 102 is implemented within a singlecomputer (e.g., one server, one housing, etc.). In various otherembodiments, controller 102 may be distributed across multiple serversor computers (e.g., that may exist in distributed locations).Accordingly, the controller 102 may refer to one or more computingdevices that may be collocated or positioned remote from one another.

The cloud computing system 110 may similarly include the processingcircuitry 104, a processor 106, and a memory 108, but may implement theprocessing circuitry 104 in a distributed manner. In some embodiments,the cloud computing system 110 is configured to provide a graphical userinterface (GUI) (e.g., on a user device, such as a table, smartphone, orlaptop computer) to an administrator of any of the vehicles or machinerythat are used to process, transport, unload, and install the solarpanels 16 so that the administrator may view operational characteristicsor data of any of the vehicles. The cloud computing system 110 may alsoplan and provide route data to the transportation vehicle 20 so that thetransportation vehicle 20 autonomously or semi-autonomously transportsbetween the unloading site 12 a and the installation site 12 c.

Solar Panel Station

Referring now to FIG. 4 , a system of solar panel stations 200 (e.g., asolar farm, photovoltaic power station, a solar power plant, a solarpark, etc.) is shown, according to an example embodiment. As shown, eachof the solar panel stations 200 includes a series of rows of solar panelstations 202. Each of the solar panel stations 202 includes a series ofsolar panels 16 individually coupled to a support structure. Accordingto various embodiments, each solar panel 16 may be configured to rotateabout the support structure such that the solar panel is at a desiredangle relative to the ground.

Referring now to FIG. 5 , a perspective view of the solar panel station202 is shown, according to an exemplary embodiment. As shown, the solarpanel station 202 includes a series of solar panels 16 coupled to asupport structure 204 (e.g., a frame). For example, each solar panel 16may be coupled to the support structure 204 through a strut 210 and apurlin 212. As shown, the support structure 204 includes two posts 206coupled to a torque tube 208 that extends along a first axis between thetwo posts 206. As shown, the torque tube 208 includes a flat portionconfigured to couple with the purlin 212 to support each solar panel 16.According to various embodiments, the solar panels 16 are configured torotate about the torque tube 208 (e.g., rotate about the first axis).

Referring now to FIG. 6 , a side view of another solar panel station 220is shown, according to an exemplary embodiment. As shown, a pair ofsolar panels 16 are coupled to a pair of framing members 228 and to atorque tube 222. The solar panel station 220 includes a drive mechanism224 (e.g., a motor) coupled to the solar panels 16 and configured tochange an orientation (e.g., an angle formed with the ground 221) of thesolar panels 16. The solar panel station further includes a damper 226configured to dampen the rotational speed of the solar panels 16. Thedrive mechanism 224 may facilitate the solar panel station 220 trackingthe sun S by rotating the solar panels 16 to face the sun S as the sun Smoves throughout the sky over time.

Solar Panel Installation Systems

Referring now to FIGS. 7 and 8 , a side schematic view and a topschematic view of an installation system 230 are shown, respectively,according to an exemplary embodiment. The installation system 230 isconfigured to position a solar panel 16 in a desired position withrespect to a support structure 232 (e.g., a torque tube). For example,the installation system 230 may position each solar panel 16 such thatthe solar panel 16 may be manually secured in place or secured in placeby another device/vehicle (e.g., manually or automatically). Accordingto various embodiments, the installation system 230 may be configured toposition and secure each solar panel 16 to the support structure 232. Itshould be appreciated that the installation system 230 may share one ormore characteristics as any of the other installation systems 230described herein.

As shown, the installation system 230 includes an installation vehicle234 configured to translate relative to the support structure 232 suchthat the installation vehicle 234 may position each solar panel 16 in adesired location. For example, the installation vehicle 234 includes apower train 235 configured to drive the installation vehicle 234. Sincethe power train 235 is supported by the ground, and not a supportstructure 232, less stress is applied to the support structure 232 whileinstalling the solar panels 16. The installation vehicle 234 includes aplatform 236 configured to support a series of solar panels 16. Theinstallation vehicle 234 further includes an implement 238 coupled tothe platform 236. The implement 238 is configured to transport one ormore solar panels 16 from the platform 236 to a desired positionrelative to the support structure 232. According to various embodiments,the implement 238 is adjustable. In the example shown in FIG. 7 , theimplement 238 includes a support beam 240 configured adjust verticallyalong a support pole 242 (e.g., as controlled by an electric orhydraulic linear actuator). The support beam 240 may be a cantileverbeam that is supported at a first end (e.g., proximate the support pole242). Further, the support beam 240 may be coupled to a guy wire 241,which is also coupled to the support pole 242. Further, the implement238 is configured to rotate about the support pole 242 (e.g., about avertical axis centered about the support pole 242). As shown, theimplement 238 includes a series of robotic arms 244 configured toselectively couple to a solar panel 16 and transport the solar panel 16to a desired location. As shown, the robotic arms 244 include a seriesof linkages configured to be controlled (e.g., via a controller withinthe installation vehicle 234, remotely, etc.) to position the solarpanel 16 in a desired location. For example, the robotic arms 244 may beconfigured to provide six degrees of freedom of control of the solarpanels 16. Further, according to various embodiments, each robotic arm244 is configured to translate along the support beam 240 (e.g., toretrieve solar panels 16 positioned on the platform 236). By way ofexample, movement of the robotic arm 244 (e.g., engagement of aninterface 245 such as a claw or suction cup at the end of the roboticarm 244, articulation of the robotic arm 244, movement of the roboticarm 244 along the support beam 240) may be effected by one or moreelectric motors.

As shown, the installation vehicle 234 includes one or more sensors 246.The sensors 246 may be configured to detect the location of one or moreobjects. For example, the sensors 246 may detect a distance between theground and the sensor 246, the distance between the support structure232 and the sensor 246, and/or the distance between the sensor 246 andone or more solar panels 16. According to various embodiments, thesupport structure 232 may include one or more indicia 233 (e.g.,indicators or markings) configured to be captured one or more sensors246. For example, the sensors 246 may include a camera configured tocapture images of the indicia 233. For another example, the sensors 246may include hall effect sensors, the indicia 233 may include permanentmagnets, and the hall effect sensors may detect the presence of themagnetic field associated with each indicia 233. The indicia 233 may bespaced at predetermined increments such that the implement 238 mayperform various functions in response to a sensor 246 detecting anindicia 233. For example, the implement 238 may grab a solar panel 16from the platform 236 in response to a first indicia 233 being detectedand place a solar panel 16 proximate the support structure 232 inresponse to a second indicia 233 being detected. In this sense, aportion of the solar panel installation process may be autonomous, andthe installation vehicle 234 may automatically place the solar panels 16at regular, predetermined intervals along the length of the supportstructure 232. According to various embodiments, the sensors 246 may beused to determine a location of one or more objects (e.g., using sensorreadings from two or more sensors and performing triangulationcalculations).

As shown, the installation vehicle 234 includes a series of tractiveelements, shown as wheels 248. The height of each wheel 248 (e.g., thedistance between the platform 236 and the center of the wheel 248) maybe adjusted to keep the platform 236 parallel with the support structure232. For example, the height of the wheels 248 may be adjusted inresponse to a change in the ground (e.g., a change in shape or incline)as detected by the one or more sensors 246. Further, the one or moresensors 246 may include load sensors (e.g., strain gauges), and theheight of the wheels 248 may be adjusted to balance the loads, asdesired.

As shown in FIG. 8 , the installation vehicle 234 may straddle thesupport structure 232. For example, a first set of wheels 248 may becoupled via a first axle and a second set of wheels 248 may be coupledvia a second axle, and each of the first set of wheels 248 and thesecond set of wheels 248 may include a wheel 248 on both sides of thesupport structure 232.

FIG. 9 is a side schematic view of another installation system 250,according to an exemplary embodiment. Unless otherwise specified, theinstallation system 250 may share one or more characteristics with anyof the other installation systems described herein. For example, theinstallation system 250 includes an installation vehicle 252 configuredto straddle a support structure 232 during the installation of solarpanels 16.

As shown, the installation vehicle 252 includes a series of robotic arms244. Each robotic arm is coupled to the support beam 240 by a track 254.Each track 254 may move longitudinally along the length of the supportbeam 240 (e.g., as controlled by an electric motor). According tovarious embodiments, the robotic arms 244 are configured to translate(e.g., vertically) along the tracks 254 (e.g., as controlled by one ormore electric motors) such that the height of the robotic arms 244 maybe adjusted for increased maneuverability.

Referring now to FIG. 10 , a rear schematic view of another installationsystem 260 is shown, according to an exemplary embodiment. Unlessotherwise specified, the installation system 260 may share one or morecharacteristics with any of the other installation systems describedherein. For example, the installation system 260 includes aninstallation vehicle 262 configured to straddle a support structure(e.g., the support structure 232) during the installation of solarpanels 16.

As shown, the installation vehicle 262 includes a solar panel interface,shown as lifting mechanism 264, coupled to a support beam 240. Thelifting mechanism 264 includes a pair of forks 268 rotatably coupled toa linkage 269. The linkage 269 is rotatably coupled to the support beam240. According to various embodiments, the lifting mechanism 264 mayfold up (e.g., from an active position shown in solid lines in FIG. 10 )and be stowed away (e.g., in a stowed position shown in dashed lines inFIG. 10 ) when not in use. The lifting mechanism may include one or moreactuators (e.g., electric linear actuators) that control the folding andunfolding of the forks 268 and the linkage 269. Further, the liftingmechanism 264 may translate along the support beam 240 (e.g., under thepower of an electric motor). For example, when retrieving a solar panel16, or a pallet of solar panels 16, from a delivery vehicle 263 (e.g., atransportation vehicle 20), the support beam 240 may be positioned overthe delivery vehicle 263 (e.g., rotated into a desired location), theforks 268 may be deployed and coupled to (e.g., positioned beneath) oneor more solar panels 16, and the lifting mechanism 264 may thentranslate along the support beam 266 to place the one or more solarpanels 16 onto a platform 236 on the installation vehicle 262.

Referring now to FIG. 11 , a side schematic view of a storage device 270is shown, according to an exemplary embodiment. The storage device 270may be utilized by any of the installation vehicles disclosed herein. Asshown, the storage device 270 includes a pallet 274 positioned within acentral cavity or recess 278 of the platform 236. According to variousembodiments, the storage device 270 may be used to transport one or moresolar panels 16 from an offsite location to a desired location. Thepallet 274 may be used to transfer the solar panels 16 from a deliveryvehicle onto the platform 236. The pallet 274 loaded with solar panels16 may be placed within the recess 278 and lowered until the solarpanels are supported by the platform 236 of the installation vehicle.The pallet 274 may then be removed from the platform 236. As shown, thepallet 274 includes a pair of openings 276 each configured to receive afork 268 to engage the pallet 274 with the installation vehicle.

Referring now to FIG. 12 , a side schematic view of a storage device 280is shown, according to an exemplary embodiment. The storage device 280may represent an alternative embodiment of the storage device 270. Asshown, in the storage device 280, the platform 236 defines a series ofopenings or recesses 284 that each open upward toward an upper surfaceof the pallet 282. Each of the recesses 284 is configured to receive afork 268 such that the forks 268 may be used to lift and transport thesolar panels 16 directly without transporting a pallet. The recesses 284may provide clearance for the forks 268 when setting the solar panels 16on the platform 236.

Referring now to FIG. 13 is a schematic view of an interaction betweenan installation vehicle 290 and a delivery vehicle 292 using the storagedevice 270 of FIG. 11 is shown, according to an exemplary embodiment.The installation vehicle 290 may represent any of the installationvehicles described herein. The delivery vehicle 292 may represent any ofthe delivery vehicles described herein. According to variousembodiments, to begin unloading the solar panels 16 from the deliveryvehicle 292, forks 268 of the installation vehicle 290 may be insertedinto the pallet 274 while the pallet 274 is positioned on top of thedelivery vehicle 292 and beneath a stack of solar panels 16. The pallet274 may then be lifted and delivered to the installation vehicle 290.The pallet 274 may be placed within the recess 278 of the platform 236,and the forks 268 may be lowered until the solar panels 16 are fullysupported by the platform 236. Subsequently, the pallet 274 may beremoved from the recess 278 while the solar panels 16 remain on theplatform 236.

Referring now to FIGS. 14 and 15 , perspective views of a storage device300 are shown, according to an example embodiment. The storage device300 may be used to protect the solar panels 16 during transportation. Asshown in FIG. 15 , the storage device 300 includes openings between thesolar panels 16 and the frame of the storage device 300 thereby allowinga fork to lift the solar panels 16 off the base without carrying theentire storage device 300.

Referring now to FIG. 16 , a top schematic view of another installationsystem 304 is shown, according to an exemplary embodiment. Unlessotherwise specified, the installation system 304 may share one or morecharacteristics with any of the other installation systems describedherein. For example, the installation system 304 includes aninstallation vehicle 305 configured to straddle a support structure 232during the installation of solar panels 16. As shown, the installationvehicle 305 includes a first support beam 306 and a second support beam308 configured to rotate relative to the platform 236 of theinstallation vehicle 305. Further, the installation vehicle 305 includesa pair of robotic arms 244 configured to selectively couple to the solarpanels 16. As shown, the robotic arms 244 may translate along the firstsupport beam 306 and the second support beam 308, respectively.

Referring now to FIG. 17 , a side schematic view of another installationsystem 310 is shown, according to an exemplary embodiment. Unlessotherwise specified, the installation system 310 may share one or morecharacteristics with any of the other installation systems describedherein. For example, the installation system 310 includes aninstallation vehicle 311 configured to straddle a support structure 232during the installation of solar panels 16.

As shown, the installation system 310 includes an alignment device,shown as a sled 312, coupled to the installation vehicle 311 via alinkage 317. The linkage 317 may limit longitudinal movement of the sled312 relative to the installation vehicle 311 while permitting verticaland lateral movement of the sled 312, causing the sled 312 to move withthe installation vehicle 311 while permitting the sled 312 to ride thesupport structure 232. According to various embodiments, the sled 312 issupported by the support structure 232 and configured to translate alongthe support structure 232. For example, the sled 312 includes a seriesof rollers that engage the support structure 232, coupling the sled 312to the support structure 232. According to various embodiments, theinstallation vehicle 311 is configured to transport or deposit one ormore solar panels 16 into a cavity 318 within the sled 312, such thatthe solar panels 16 may be coupled to the support structure 232 throughthe sled 312. The sled 312 further includes a series of attachmentmechanisms 316 configured to secure the solar panel 16 to the supportstructure 232. By way of example, the attachment mechanism 316 mayinstall (e.g., by turning or pressing) one or more fasteners to securesolar panels 16 to the support structure 232. As the installationvehicle 311 and the sled 312 move along the length of the supportstructure 232, the installation vehicle 311 supplies solar panels 16 tothe sled 312, the attachment mechanism 316 installs the solar panels 16,and the sled 312 releases the solar panels 16 once installed. Thisprocess may be repeated to install multiple solar panels 16 along thelength of the support structure 232.

In an alternative embodiment, the rollers 314 are omitted, and the sled312 rests directly on the support structure 232 when in use. The sled312 aligns and installs the solar panels 16 on the support structure232. Once installed, the linkage 317 lifts (e.g., using one or moreactuators) the sled 312 off of the support structure 232 to provideclearance between the sled 312 and the support structure 232 as theinstallation vehicle 311 moves along the support structure 232.

Referring now to FIG. 18 , a top schematic view of the sled 312 of FIG.17 is shown. As shown, the sled 312 includes a series of actuators,shown as advancement rollers 315. Each of the advancement rollers 315 isconfigured to engage a side surface of one of the solar panels 16 (e.g.,such that each solar panel 16 is held between at least two advancementrollers 315) and rotate to cause the solar panel 16 to translaterelative to the sled 312 and the support structure 232. By way ofexample, the installation vehicle 311 may supply the solar panels 16individually at the right side of the sled 312, and the advancementrollers 315 may index the solar panels 16 leftward as shown in FIG. 18 .Once each solar panel 16 is in a desired location, a securing mechanism319 (e.g., a clamp) is used to secure the solar panel 16 to the supportstructure 232. The securing mechanism 319 may be engaged manually or bythe attachment mechanism 316.

Referring now to FIGS. 19 and 20 , a front schematic view and a sideschematic view of another installation system 320 are shown,respectively, according to an exemplary embodiment. Unless otherwisespecified, the installation system 320 may share one or morecharacteristics with any of the other installation systems describedherein. For example, the installation system 320 includes aninstallation vehicle 322 configured to straddle a support structure 232during the installation of solar panels 16. As shown, the installationvehicle includes a platform 236 and one or more robotic arms 244configured to transport solar panels 16 from the platform 236 into adesired location proximate the support structure 232.

As shown, the installation vehicle 322 includes a centering device orcentering assembly, shown as rollers 324, configured to cause theinstallation vehicle 322 to remain centered on the support structure232. The rollers 324 are rotatably coupled to the platform 236. Asshown, the rollers 324 are arranged along the upper half of thecircumference of the support structure 232. Accordingly, the rollers 324limit downward movement and lateral movement of the platform 236relative to the support structure 232. The rollers 324 may be powered orunpowered.

The installation vehicle 322 includes a series of tractive elements,shown as wheels 330, each coupled to the platform 236 by a suspensionelement 332 (e.g., a spring and/or damper). One or more sensors (e.g.,force sensors, load sensors, etc.) may be configured to detect a minimumthreshold force being applied to one or more of the rollers 324. Thisforce may indicate a portion of the weight of the installation vehicle322 that is supported by the support structure 232. In response, acontroller (e.g., the controller 102) may cause the suspension elements332 to adjust the height of each wheel 330 (e.g., the vertical positionof the wheel 330 relative to the platform 236) to maintain a desiredposition of the installation vehicle 322 proximate the support structure232. According to alternative embodiments, the centering device mayinclude one or more sensors configured to detect a distance between theinstallation vehicle 322 and the support structure 232. In response to adeviation from a desired distance being detected, the controller maycause the suspension elements 332 and/or steering of the installationvehicle 322 to be adjusted to maintain a desired position of theinstallation vehicle 322 proximate the support structure 232.

Referring now to FIG. 21 , an interaction between the installationvehicle 322 and a delivery vehicle 350 is shown, according to anexemplary embodiment. The delivery vehicle 350 may be substantiallysimilar to any of the other delivery vehicles disclosed herein, exceptas otherwise specified. As shown, the delivery vehicle 350 includes aplatform 352 configured to support one or more solar panels 16 fortransportation. As shown, the delivery vehicle 350 includes a series ofrollers 354 configured to interface with the solar panels 16 (e.g., bysupporting the solar panels 16 from below). According to variousembodiments, the rollers 354 may be driven (e.g., by an electric motor).For example, a motor may cause the rollers 354 to rotate (e.g.,individually, in unison, etc.) such that the solar panels 16 translate(e.g., laterally) relative to the platform 352 in response to therollers 354 rotating. In this sense, the solar panels 16 may betransferred from atop the delivery vehicle 350 toward the installationvehicle 322.

As shown, the installation vehicle 322 includes a series of rollers 344positioned on the platform 236 and configured to interface with thesolar panels 16 (e.g., by supporting the solar panels 16 from below).According to various embodiments, the rollers 344 may be driven. Forexample, a motor may cause the rollers 344 to rotate (e.g.,individually, in unison, etc.) such that the solar panels 16 translate(e.g., laterally) relative to the platform 342 in response to therollers 344 rotating.

According to various embodiments, the delivery vehicle 350 includes aseries of tractive elements, shown as wheels 356, each coupled to theplatform 352 by an adjustable suspension component, shown as suspensionelement 358 (e.g., a spring and/or damper). According to variousembodiments, the adjustable suspension 358 is configured to adjust thetire height of the delivery vehicle 350 (e.g., the vertical position ofeach wheel 356). According to various embodiments, the tire height maybe individually adjusted to create a desired angle between the platform352 and the ground. According to various embodiments, the tire heightsof the installation vehicle 322 may be individually adjusted to create adesired angle between the platform 236 and the ground. For example, thesuspension elements 358 of the delivery vehicle 350 may cause theplatform 352 to rotate towards the installation vehicle 322 such thatthe solar panels 16 roll off the platform 352 and onto the platform 236.According to various embodiments, the installation vehicle 322 mayadjust the suspension elements 332 to match the angle of the platform236 to the platform 352 of the delivery vehicle 350 and/or place theplatform 236 inline with the platform 352 to facilitate transfer of thesolar panels 16 from the delivery vehicle 350 to the installationvehicle 340.

Referring now to FIGS. 22 and 23 , a top schematic view and a sideschematic view of an installation system 360 are shown, respectively,according to an exemplary embodiment. Unless otherwise specified, theinstallation system 360 may share one or more characteristics with anyof the other installation systems described herein. For example, theinstallation system 360 includes an installation vehicle 364 configuredto straddle a support structure 232 during the installation of solarpanels 16.

As shown, the installation system 360 includes a series of connectors366 (e.g., couplers, clamps, fasteners, subframes, etc.). According tovarious embodiments, the connectors 366 are configured to couple a firstsolar panel 16 to a second solar panel 16. As shown, the connectors 366may be used to couple a series of solar panels 16 together while atleast one of the solar panels 16 is positioned on the platform 362. Therobotic arm 368 may then position the chain of solar panels 16 andconnectors 366 in a desired location with respect to the supportstructure 232. The installation vehicle 364 may pay out the preassembledchain onto the support structure 232 (e.g., as controlled by the roboticarm 244), and the solar panels 16 may be fixed to the support structure232. By preassembling the chain, the relative positions of the solarpanels 16 may be constrained prior to the solar panels 16 exiting theinstallation vehicle 364.

Referring now to FIGS. 24 and 25 , side schematic views of anotherinstallation system 400 are shown, according to an exemplary embodiment.Unless otherwise specified, the installation system 400 may share one ormore characteristics with any of the other installation systemsdescribed herein. For example, the installation system 400 includes aninstallation vehicle 402 configured to position solar panels 16 in adesired location with respect to the support structure 232 during theinstallation of solar panels 16. Further, the installation system 400includes a delivery vehicle 404 configured to transport one or moresolar panels 16 to an installation site such that the installationvehicle 402 may position the solar panels 16 in a desired locationproximate the support structure 232.

As shown, the installation vehicle 402 includes a base 408 coupled tothe wheels 248 and turntable 409 rotatably coupled to the base 408. Theinstallation vehicle 402 further includes a boom including a series oflinkages or boom sections, shown as base boom section 414 and fly boomsection 415. A proximal end of the base boom section 414 is pivotablycoupled to the turntable 409. A proximal end of the fly boom section 415is pivotably coupled to a distal end of the base boom section 414. Theinstallation vehicle 402 further includes a platform assembly 406rotatably coupled to a distal end of the fly boom section 415. As shown,the platform assembly 406 is configured to support one or more solarpanels. The platform assembly 406 includes a horizontal support portion,shown as platform 412, that may be inserted below the solar panels 16while the solar panels 16 are positioned on the delivery vehicle 404such that the platform assembly 406 may lift the solar panels 16 off thedelivery vehicle 404. As shown, the platform assembly 406 includes arobotic arm 244 coupled to the platform 412 via a rail 410. The rail 410is configured to allow the robotic arm 244 to translate longitudinallyalong the rail 410. The robotic arm 244 is configured to selectivelycouple to one or more solar panels 16 and transport the one or moresolar panels 16 from the platform 412 to a desired location (e.g., onthe support structure 232).

Referring now to FIGS. 26 and 27 , a top schematic view and a sideschematic view of another installation system 420 are shown,respectively, according to an exemplary embodiment. Unless otherwisespecified, the installation system 420 may share one or morecharacteristics with any of the other installation systems describedherein. For example, the installation system 420 includes aninstallation vehicle 422 configured to position solar panels 16 in adesired location with respect to the support structure 232 during theinstallation of solar panels 16.

As shown, the installation vehicle 422 includes a series of robotic arms244. According to various embodiments, at least one of the robotic arms244 is configured to secure a bracket 424 (e.g., a coupler, a clamp, afixture) to the support structure 232. By way of example, one of therobotic arms 244 may engage a clamp of the bracket 424 with the supportstructure 232. According to various embodiments, at least one of therobotic arms 244 is configured to selectively couple to one or moresolar panels 16 and secure the solar panel to one or more brackets 424.By way of example, one of the robotic arms 244 may engage a fastener ofa solar panel 16 with a bracket 424. In some embodiments, the brackets424 are secured to the support structure at predetermined incrementssuch that the brackets 424 may engage the solar panels 16 and secure thesolar panels 16 to the support structure 232 at the predeterminedintervals. In this example embodiment, at least one of the robotic armsmay slide a solar panel 16 between two brackets 424 such that thebrackets 424 secure the solar panel 16 to the support structure 232.

FIG. 28 is a side schematic view of another installation system 430,according to an exemplary embodiment. Unless otherwise specified, theinstallation system 430 may share one or more characteristics with anyof the other installation systems described herein. For example, theinstallation system 430 includes an installation vehicle 432 configuredto position solar panels 16 in a desired location with respect to thesupport structure 232 during the installation of solar panels 16.

As shown, the installation vehicle 432 includes a platform 236configured to support a support structure 232, a series of mountingdevices 434 (e.g., the brackets 424), and a series of solar panels 16.According to various embodiments, the mounting devices 434 areconfigured to couple the series of solar panels to the support structure232. According to various embodiments, a panel assembly 436 includingthe solar panels 16 mounted to the support structure 232 by the mountingdevices 434 is supported by the platform 236. The panel assembly 436 maybe preassembled prior to being supplied to the installation vehicle 432,or the installation vehicle 432 may form the panel assembly 436 from theindividual subcomponents (e.g., using one or more robotic arms 244). Theinstallation vehicle 432 transports the panel assembly 436 to a seriesof vertical supports 438 that are coupled to the ground. Theinstallation vehicle 432 moves the panel assembly 436 from the platform236 to the support structure 232 (e.g., with one or more robotic arms244) to facilitate coupling the panel assembly 436 to the verticalsupports 438.

Referring now to FIGS. 29 and 30 , side views of another installationvehicle 450 are shown, according to an exemplary embodiment. Theinstallation vehicle 450 may be substantially similar to theinstallation vehicle 402, except the platform assembly 406 is replacedwith a robotic arm 244. As shown, the installation vehicle 450 includesa boom including a base boom section 414 coupled to a fly boom section415. The boom may be controlled to provide up to six degrees of freedomof movement.

Referring now to FIGS. 31 and 32 , side views of another installationvehicle 460 are shown, according to an exemplary embodiment. Unlessotherwise specified, the installation vehicle 460 may be substantiallysimilar to the installation vehicle 450. As shown, the installationvehicle 460 includes a boom including a base boom section 414 coupled toa fly boom section 415. The boom may be controlled to provide up to sixdegrees of freedom of movement. The lengths of the base boom section 414and the fly boom section 415 may different from the lengths of thecorresponding boom sections of the other installation vehicles describedherein. Throughout the range of motion of the boom, the base boomsection 414 may not extend beyond a vertical orientation (i.e., may notgo over center).

Referring now to FIGS. 33 and 34 , side views of another installationvehicle 470 are shown, according to an exemplary embodiment. Theinstallation vehicle 470 may be substantially similar to theinstallation vehicle 460 except as otherwise specified herein. As shown,the installation vehicle 470 includes a telescoping boom assemblyincluding a base boom section 472 rotatably coupled to a turntable 409of the installation vehicle 470. The installation vehicle 470 furtherincludes a fly boom section 476 configured to translate within (e.g., ina telescoping manner, slidably coupled to, etc.) the base boom section472. As shown, the installation vehicle 470 further includes a roboticarm 244 coupled to the fly boom section 476 and configured toselectively couple to one or more solar panels 16.

Referring now to FIGS. 35 and 36 , a perspective view and top view of animplement, shown as robotic arm 456, according to an exemplaryembodiment. The robotic arm 456 may represent one exemplary embodimentof the robotic arm 244. The robotic arm 456 is configured to selectivelycouple to one or more solar panels 16 and transport the solar panel 16to a desired location. As shown, the robotic arm 456 is pivotablycoupled to a distal end of and configured to rotate about a linkage 480.According to various embodiments, the linkage 480 may be a part of aninstallation vehicle (e.g., the fly boom section 415, the fly boomsection 476, etc.). As shown, the robotic arm 456 is coupled to thelinkage 480 via a linear guide, shown as track 482. According to variousembodiments, the robotic arm 456 may translate along the track 482(e.g., under power of an electric motor). The track 482 may be rotatablycoupled to the linkage 480, such that the track 482 is rotatablerelative to the linkage 480 about a substantially vertical axis (e.g.,under power of an electric motor). As shown, the robotic arm 456includes a series of linkages 486 and an attachment mechanism 488 (e.g.,an end effector, a grabber, an interface, etc.) configured to couple therobotic arm 456 to one or more solar panels 16. Each linkage 486 may bepivotally coupled to an adjacent component. By way of example, a firstlinkage 486 may be rotatable relative to track 482 and a second linkage486. The second linkage 486 may be rotatable relative to the firstlinkage 486 and a third linkage 486. The third linkage 486 may berotatable relative to the second linkage 486 and the attachmentmechanism 488.

Referring now to FIG. 37 , a top schematic view of another installationsystem 500 is shown, according to an exemplary embodiment. Theinstallation system 500 includes an installation vehicle 502 and adelivery vehicle 504. The installation vehicle includes a robotic arm244 configured to transport solar panels 16 from the delivery vehicle504 to the support structure 232. This robotic arm 244 may extend inlength (e.g., to the right as shown in FIG. 37 ) and rotate about asubstantially vertical axis (e.g., clockwise as shown in FIG. 37 , aspowered by a cylinder). As shown, during the installation process, theinstallation vehicle 502 and the delivery vehicle 504 are on oppositeside of the support structure 232 such that the installation vehicle 502and the delivery vehicle 504 may both move along the support structure232 during the installation process.

Referring now to FIG. 38 , a top schematic view of another installationsystem 510 is shown, according to an exemplary embodiment. Theinstallation system 510 includes an installation vehicle 512 and adelivery vehicle 514. The installation vehicle 512 includes a roboticarm 244 configured to transport solar panels 16 from the deliveryvehicle 514 to the support structure 232. This robotic arm 244 mayrotate about a substantially vertical axis (e.g., clockwise as shown inFIG. 38 , as powered by a cylinder). As shown, during the installationprocess, the installation vehicle 512 straddles the support structure232 while the delivery vehicle 504 is positioned to the side of thesupport structure 232.

Referring now to FIG. 39 , a perspective view of an installation vehicle550 is shown, according to an exemplary embodiment. As shown, theinstallation vehicle 550 includes a robotic arm 244 that is configuredto selectively couple to one or more solar panels 16 and transport thesolar panel to a desired location. A base portion 552 or chassis of theinstallation vehicle 550 may be configured to hold a series of solarpanels 16 such that the robotic arm 244 may access the series of solarpanels 16 and transport the solar panels 16 as desired. As shown, therobotic arm 244 is coupled to and configured to rotate relative to thebase portion 552. The robotic arm 244 is coupled to the base portion 552by a lift assembly or rectangular translation assembly including asupport stand 560 or lift, a linkage 558 or lateral actuator, and atrack 554. As shown, the robotic arm 244 is coupled to the track 554 andconfigured to rotate relative to the track 544. The robotic arm 556 maytranslate laterally along the track 554 (e.g., under power of anelectric motor). As shown, the track 554 is coupled to the support stand560 by the linkage 558. According to various embodiments, the track 554is configured to translate laterally relative to the linkage 558 (e.g.,under power of an electric motor). According to various embodiments, thelinkage 558 is configured to vertically translate with respect to thesupport stand 560 (e.g., under power of an electric motor).

Referring now to FIG. 40 , a side view of another installation vehicle600 and delivery vehicle 602 is shown, according to an exemplaryembodiment. As shown, the installation vehicle 600 is selectivelycoupled to the delivery vehicle 602 via a linkage 604. By way ofexample, the installation vehicle 600 may include a hydraulic cylinderor other actuator that selectively moves the linkage 604 into engagementwith a frame of the delivery vehicle 602. Alternatively, the linkage 604may be part of the delivery vehicle 602 and selectively engage theinstallation vehicle 600. According to various embodiments, the linkage604 has a predetermined length, such that the installation vehicle 600remains a constant distance from the delivery vehicle 602 during theinstallation process while the linkage 604 is engaged. This may providea constant, predetermined spacing between the delivery vehicle 602 andthe installation vehicle 600, such that the installation vehicle 600 caneasily predict the positions of the solar panels 16 on the deliveryvehicle 602 during retrieval and installation. According to variousembodiments, a transmission of the delivery vehicle 602 may bereconfigured into a neutral mode during the installation process suchthat the installation vehicle 600 drives the delivery vehicle,controlling motion of both vehicles together with a single controller.Alternatively, a transmission of the installation vehicle 600 mayreconfigured into a neutral mode such that the delivery vehicle 602controls propulsion of both vehicles.

FIG. 41 is a perspective view of an installation vehicle 650, accordingto an exemplary embodiment. As shown, the installation vehicle 650includes a series of sensors 652. The sensors 652 may facilitateautonomous installation of solar panels 16. For example, the sensors 652may detect support structures, delivery vehicles, obstacles, and/orother objects during the installation process.

Autonomous Working Vehicle

FIG. 42 is a perspective view of an Autonomous Working Vehicle (AWV)700, according to an exemplary embodiment. The AWV 700 may represent theinstallation vehicle 22 or any of the other installation vehiclesdescribed herein. Accordingly, any description with respect to the otherinstallation vehicles may apply to the AWV 700 unless otherwisespecified. For example, the AWV 700 may be substantially similar to theinstallation vehicle 650. The AWV 700 may include the controller 102. Asshown, the AWV includes a base 408, a turntable 409, a boom assembly702, and a robotic arm 456.

The base 408 includes a body 705, a pair of axles 710, and a sensor 712.The body 705 may include at least one of a chassis, a cab, a vehicleframe, and/or a vehicle support structure, and the body 705 providesstructure to supports other elements of the base 408. Each axle 710 iscoupled to an opposing side of the body 705 (e.g., a front side and arear side, respectively) and is positioned near an underside of the body705. In some embodiments, the axles 710 are movable relative to the body705 (e.g., about a substantially longitudinal axis, as controlled by avehicle suspension, etc.). The axles 710 may move in unison orindependent from another. A wheel 248 is rotatably coupled to each endof each axle 710 (e.g., such that the front axle is directly coupled totwo front wheels 248, and the rear axle 710 is directly coupled to tworear wheels 248). The wheels 248 may be powered (e.g., to rotate) by aprime mover (e.g., an actuator such as an engine, a battery, a motor,etc.) to propel and steer the AWV 700. By way of example, one actuatormay power all of the wheels 248, or each wheel 248 may be independentlypowered by a different actuator.

The sensors 712 (e.g., environment sensors) may be disposed and/orlocated at various locations and/or positions of the AWV 700. Forexample, a sensor 712 is shown positioned on front-facing surface of afront axle 710, and another sensor 712 is shown along a right-facingsurface of the body 705. In some embodiments, other sensors 712 arepositioned along the other surfaces of the body 705 (e.g., along arear-facing surface, along a left-facing surface, etc.). The sensors 712may provide sensor data characterizing the AWV 700 and/or theenvironment surrounding the AWV 700. By way of example, the sensors 712may include at least one of cameras, proximity sensors, trackingdevices, position sensors, gyroscopes, location devices (e.g., a GPS),and/or among various other possible sensors. The sensors 712 may track,detect, and/or monitor a position of the AWV 700, a position of aspecific component of the AWV 700, or a position of an object in thesurrounding environment (e.g., a building, an obstacle, another vehicle,solar panels 16, etc.). For example, the sensors 712 may track aposition of the turntable 409 (e.g., a position relative to the body705). The sensors 712 may also track a position of the AWV 700 (e.g.,GPS coordinates, XYZ coordinates, grid coordinates, etc.).

The AWV 700 may include wheels 248 or another type of tractive element,such as tires, treads, tracks, and/or other tractive elements. In theembodiment of FIG. 42 , the wheels 248 include a V-shaped tread suitablefor hard surfaces such as concrete, packed dirt, or asphalt. In otherembodiments, the shape of the tread on the wheels 248 may be modified(e.g., the wheels 248 may be exchanged for different wheels 248) tobetter accommodate different surfaces (e.g., a tread havinghorizontally-extending grooves may be suitable for sand or turf). FIG.43 is a perspective view of an alternative embodiment of the AWV 700,which includes tractive elements, shown as tracks 715, in place of thewheels 248. The tracks 715 may provide and/or otherwise produce a largersurface area for the AWV 700 relative to the wheels 248. Accordingly,the tracks 715 may be suitable for use on relatively soft surfaces, suchas mud or sand.

The turntable 409 includes an interface device 725 and a frame 730 thatis pivotably coupled to the boom assembly 702. The frame 730 isrotatably coupled to the body 705 and configured to rotate relative tothe body 705 about a substantially vertical axis that passes through thecenter of the turntable 409 (e.g., to adjust a position or orientationof the boom assembly 702). In some embodiments, the turntable 409includes one or more actuators (e.g., electric motors, hydraulic motors,etc.), shown as turntable actuators 720, that drive rotation of theturntable 409 relative to the body 705. By way of example, the turntableactuators 720 may be coupled to the body 705, and each turntableactuator 720 may include a pinion gear that engages a ring gear coupledto the frame 730. By turning the pinion gears, the ring gear is drivento rotate the turntable 409. In some embodiments, the turntable 409includes two turntable actuators 720, such that the AWV 700 includes twoswing drive systems (e.g., two systems that are independently capable ofdriving rotation of the turntable 409. By including two swing drivesystems, overall backlash in the turntable 409 is reduced. By way ofexample, the rotation range of the turntable 409 having backlash fromthe first turntable actuator 720 may not exactly overlap the rotationrange of the turntable 409 having backlash from the second turntableactuator 720. As long as at least one of the turntable actuators 720 isnot experiencing backlash (e.g., is engaged with the ring gear of theturntable), the position of the turntable 409 may desirably be fixedwhen the turntable actuators 720 are stationary.

As shown, the turntable 409 further includes a braking system, shown asfriction brake 722. The friction brake 722 may be coupled to at leastone of the frame 730 or the body 705. The friction brake 722 may beselectively engaged (e.g., hydraulically, electrically, pneumatically,etc.) to oppose (e.g., prevent) rotation of the turntable 409. By way ofexample, the friction brake 722 may engage a friction element (e.g., abrake pad) directly with the spur gear of the turntable 409 to opposemovement of the turntable 409. By way of another example, a pinion gearmay constantly be in engagement with the ring gear of the turntable 409.The friction brake 722 may engage a friction element (e.g., a clutch)with the pinion gear to limit rotation of the pinion gear and therebylimit rotation of the turntable 409. The controller 102 mayautomatically engage the friction brake 722 whenever the turntableactuators 720 are not operating in order to hold the turntable 409 inthe current position and reduce or eliminate turntable backlash.

As shown, the turntable 409 includes a locking assembly, shown asturntable lock 724. The turntable lock 724 may be coupled to at leastone of the frame 730 or the body 705. The turntable lock 724 may beselectively engaged (e.g., hydraulically, electrically, pneumatically,etc.) to prevent rotation of the turntable 409. By way of example, theturntable lock 724 may include a pin that, when the turntable lock 724is engaged, enters an aperture defined by the ring gear of the turntable409 and acts as a hard stop. In some embodiments, the turntable lock 724has one predetermined lock position (e.g., such that the boom assembly702 faces straight forward). By way of example, the ring gear may definea single aperture that is configured to receive the pin of the turntablelock 724. In other embodiments, the turntable lock 724 has multiplepredetermined lock positions. By way of example, the ring gear maydefine a series of apertures each offset 15 degrees from one another,each of the apertures corresponding to a different lock position. Inother embodiments, one or more of the lock positions are adjustable. Byway of example, the turntable lock 724 may be selectively repositionablerelative to the body 705 to adjust the location of the lock positions.

The interface device 725 may include at least one of a network device, acommunication interface, a communication module, a communication device,a transceiver, a transmitter, a receiver, a transponder, and/or amongvarious other possible devices. The interface device 725 may interfacewith, interact with, and/or communicate with at least one of the varioussystems, devices, and/or components described herein. For example, theinterface device 725 may communicate with the cloud computing system110. By way of another example, the interface device 725 may communicatedirectly with a transportation vehicle 20 and/or another installationvehicle 22. The interface device 725 may also communicate with thesensors 712. For example, the sensors 712 may provide positioninformation to the interface device 725, and the interface device 725may communicate sensor data (e.g., indicative of a current position ofthe AWV 700) to the cloud computing system 110.

The boom assembly 702 includes a first boom section, shown as four barlinkage 732. The four bar linkage 732 includes a pair of links eachpivotally coupled to the frame 730 at a first end and to a boom subframe734 at an opposing second end. Each end of each link is configured torotate about a substantially horizontal, lateral axis such that the fourbar linkage 732 permits vertical movement of the boom subframe 734relative to the frame 730. Motion of the four bar linkage 732 iscontrolled by a linear actuator (e.g., an electric linear actuator, ahydraulic cylinder, etc.), shown as lift cylinder 736.

The boom assembly 702 further includes a telescoping assembly includinga base boom section 472 and a fly boom section 476. A proximal end ofthe base boom section 472 is pivotably coupled to the boom subframe 734.The base boom section 472 is rotatable relative to the boom subframe 734about a substantially horizontal, lateral axis. Motion of the base boomsection 472 relative to the boom subframe 734 is controlled by a pair oflinear actuators (e.g., electric linear actuators, hydraulic cylinders,etc.), shown as lift cylinders 738. The fly boom section 476 is slidablycoupled to the base boom section 472 and movable along a longitudinalaxis that extends along the length of the base boom section 472. Motionof the fly boom section 476 relative to the base boom section 472 iscontrolled by a linear actuator (e.g., an electric linear actuator, ahydraulic cylinder, etc.), shown as extension cylinder 740.

The AWV 700 further includes an implement assembly or solar panelmanipulator, shown as implement 745, coupled to a distal end of the flyboom section 476. The implement 745 includes a track 482, a robotic arm456, and a grabbing mechanism, shown as grabber assembly 760. The track482 is pivotally coupled to a distal end of the fly boom section 476.The track 482 is configured to rotate about a substantially horizontal,lateral axis. Motion of the track 482 about this lateral axis iscontrolled by a linear actuator (e.g., an electric linear actuator, ahydraulic cylinder, etc.), shown as tilt cylinder 742.

The track 482 is further configured to rotate relative to the fly boomsection 476 about an axis that extends substantially perpendicular tothe track 482. An actuator (e.g., a hydraulic motor, an electric motor,etc.), shown as track rotation motor 744, is configured to controlrotation of the track 482 about this axis.

The robotic arm 456 (e.g., a manipulator assembly) is coupled to thetrack 482. The track 482 moves the robotic arm 456 relative to the track482. For example, the robotic arm 456 may move along an axis 767 thatextends along a length of the track 482. The track 482 may include anactuator (e.g., an electric motor, a hydraulic motor, etc.) that causesthis movement.

The robotic arm 456 includes a series of linkages, shown as armsections. Each arm section is pivotally coupled to at least one adjacentarm section and includes an actuator (e.g., e.g., an electric motor, ahydraulic motor, etc.) that is configured to control relative rotationof the arm sections. The actuators may cause the arm sections to rotateabout axes that extend parallel to the arm section, perpendicular to thearm section, or about another axis. Accordingly, the arm sectionsfacilitate precise, controlled manipulation of solar panels 16.

As shown in FIG. 42 , the robotic arm 456 includes an arm section 746Arotatably coupled to the track 482, an arm section 746B pivotablycoupled to the arm section 746A, an arm section 746C pivotably coupledto the arm section 746B, an arm section 746D pivotably coupled to thearm section 746C, and an arm section 746E rotatably coupled to the armsection 746D. The arm section 746A is configured to rotate about an axisthat extends substantially perpendicular to the track 482 and along alength of the arm section 746A. The arm section 746B is configured torotate about an axis that extends substantially perpendicular to the armsection 746B. The arm section 746C is configured to rotate about an axisthat extends substantially perpendicular to the arm section 746C. Thearm section 746D is configured to rotate about an axis that extendssubstantially perpendicular to the arm section 746D. The arm section746E is configured to rotate about an axis that extends along the lengthof the arm section 746E.

The robotic arm 456 further includes a grabber assembly 760 (e.g., anend effector, an interface, a coupler, etc.) coupled to the arm section746E. The grabber assembly 760 is configured to engage a solar panel 16to selectively couple the solar panel 16 to the robotic arm 456. By wayof example, the grabber assembly 760 may include a series of vacuuminterfaces, shown as suction cups 762, configured to engage the solarpanel 16. A vacuum pump may selectively introduce a negative pressurefield at each suction cup 762 to cause the solar panel 16 to selectivelycouple to the grabber assembly 760. By way of another example, thegrabber assembly 760 may include a claw or pinching interface thatclamps onto the solar panel 16 to selectively couple the solar panel 16to the grabber assembly 760.

During operation, the grabber assembly 760 is selectively coupled to(e.g., attached to, secured to, mounted with, and/or otherwise affixedto) a solar panel 16. The robotic arm 456, the boom assembly 702, and/orthe turntable 409 may move, pivot, swing, and/or otherwise adjust theposition of the solar panel 16 relative to the base 408. Accordingly,the robotic arm 456, the boom assembly 702, and/or the turntable 409 maylocate, position, place, and/or otherwise facilitate installation of thesolar panel 16.

FIG. 44 is a perspective view of the AWV 700, according to an exemplaryembodiment. The arm 752 is shown to have rotated and/or otherwise movedrelative to the AWV 700. For example, the arm sections of the roboticarm 456 may rotate the grabber assembly 760 from a horizontal position(e.g., the position shown in FIG. 42 ) to a vertical position (e.g., theposition shown in FIG. 44 ). In some embodiments, the controller 102 mayprovide signals to the robotic arm 456, and the signals may cause therobotic arm 456 to move. For example, the controller 102 may transmitsignals to the robotic arm 456 that cause the robotic arm 456 to movefrom a first position to a second position.

The AWV 700 further includes at least one tracking device 770 and atleast one controller 772. The tracking device 770 may monitor, track,and/or detect a position of the implement 745 (e.g., at least one of thearm sections of the track 482, the robotic arm 456, and/or the grabberassembly 760). For example, the tracking device 770 may track a positionof an arm section relative to the turntable 409. The data from thetracking device 770 may be provided to the controller 772. Thecontroller 772 may control operation of the implement 745. In someembodiments, the controller 772 controls operation of the implement 745,and the controller 102 controls operation of the other components of theAWV 700. In other embodiments, one controller controls operation of theentire AWV 700.

FIG. 45 is a block diagram of a system 800, according to an exemplaryembodiment. The system 800 may include the vehicle 700 (e.g., the AWV700), the implement 745, and at least one network 815. The vehicle 700and the implement 745 may interface with, interact with, and/orotherwise communicate with one another via the network 815. For example,the network 815 may include a Controller Area Network (CAN) and thecontroller of the AWV 700 may communicate with the controller 772 viathe CAN. The network 815 may include at least one of a local areanetwork (LAN), wide area network (WAN), telephone network (such as thePublic Switched Telephone Network (PSTN)), CAN, wireless link, intranet,the Internet, a cellular network and/or combinations thereof.

The implement 745 (e.g., the controller 772) and the AWV 700 (e.g., thecontroller 102) may each include at least one processing circuit 805 andat least one network interface 810 or interface module. The processingcircuits 805 may include various electrical components and/or devicesdescribed herein. For example, the processing circuits 805 may includethe processing circuitry 104. The processing circuits 805 may performsimilar functionality to that of the various devices described herein.For example, the processing circuits 805 may control at least one of thevarious vehicles described herein.

The network interfaces 810 may include at least one network interface810. The network interfaces 810 may include at least one of a networkcommunication devices, network interfaces, and/or other possiblecommunication interfaces. The network interface 810 may include wired orwireless communications interfaces (e.g., jacks, antennas, transmitters,receivers, transceivers, wire terminals, etc.) for conducting datacommunications between the AWV 700 and the implement 745. The networkinterfaces 810 may also communicate with the various components of theAWV 700 and/or the arm 752. For example, the sensors 712 may communicatewith the network interfaces 810. The network interfaces 810 maycommunicate directly (e.g., local wired or wireless communications)and/or via a communications network (e.g., the network 130). Forexample, the network interfaces 810 may include an Ethernet card andport for sending and receiving data via an Ethernet-based communicationslink or network. The network interfaces 810 may also include a Wi-Fitransceiver for communicating via a wireless communications network(e.g., the network 815). The network interfaces 810 may include a powerline communications interface. The network interfaces 810 may include anEthernet interface, a USB interface, a serial communications interface,and/or a parallel communications interface. The network interfaces 810may interface with, interact with and/or otherwise communicate with atleast one of various systems and/or components described herein.

Delivery Vehicle

Referring to FIGS. 46-57 , a delivery vehicle 2000 (e.g., thetransportation vehicle 20) is shown, according to an exemplaryembodiment. The delivery vehicle 2000 may be configured to transportsolar panels 16 between a hub and a job site (e.g., final installationsite, etc.). The delivery vehicle 2000 includes a chassis 2010configured to facilitate receiving, transporting, and delivering solarpanels to a job site via the delivery vehicle 2000. The chassis 2010includes a frame 2020 that extends from a front end 2030 to a rear end2040 of the delivery vehicle 2000. Tractive elements 2050 are coupled tothe frame 2020 via axles, and moveably support the frame 2020 above aground surface or road. The axles may be one or two oscillating axlescapable of accommodating increased loading or components. The tractiveelements 2050 may be a wheel or an engaging motive member (e.g., track,etc.). In some embodiments, the chassis 2010 includes hydrauliccomponents (e.g., valves, filters, pipes, hoses, etc.) coupled theretothat facilitate operation and control of a hydraulic circuit including adrum drive pump and/or an accessory pump. The frame 2020 provides astructural base for supporting solar panels 16. In some embodiments, theframe 2020 includes a widened front portion that extends over and aboutthe tractive elements 2050 positioned at the front end 2030 of thechassis 2010 to simultaneously support the solar panels 16 and serve asa fender for the tractive elements 2050 positioned at the front end 2030of the chassis 2010. The frame 2020 may include lift eyes or otherstructures that facilitate lifting along the chassis 2010 such that thechassis 2010 may be manipulated as a subassembly for assembly and/ormaintenance of the delivery vehicle 2000. One or more components may becoupled to the chassis 2010 using isolating mounts made of a compliantmaterial, such as rubber. The isolating mounts may be configured toreduce the transfer of vibrations between the components and the chassis2010.

The frame 2020 may include a pair of frame rails coupled withintermediate cross members, according to an exemplary embodiment. Theframe rails extend in a generally horizontal and longitudinal direction(e.g., extend within 10 degrees of perpendicular relative to a verticaldirection, extend within ten degrees of parallel relative to a groundsurface when the delivery vehicle 2000 is positioned on flat ground,etc.) between the front end 2030 and the rear end 2040. The frame railsmay be elongated “C-channels” or tubular members, according to variousexemplary embodiments. In other embodiments, the frame rails includeanother type of structural element (e.g., monocoque, a hull, etc.). Instill other embodiments, the frame rails include a combination ofelongated C-channels, tubular members, a monocoque element, and/or ahull element. A first frame rail of the frame rails may be disposedalong a first lateral side and a second frame rail may be disposed alonga second lateral side, respectively, of the delivery vehicle 2000. Byway of example, the first lateral side of the chassis 2010 may be a leftside of the delivery vehicle 2000 and the second lateral side of thechassis 2010 may be a right side of the delivery vehicle 2000.

The delivery vehicle 2000 may include an energy storage device, shown asbattery module 2065. The battery module 2065 may be positioned laterallyabove the chassis 2010. In one example, the battery module 2065 may bepositioned proximate the front end 2030. In another example, the batterymodule 2065 may be positioned proximate the rear end 2040. In stillanother example, the battery module 2065 may be positioned between thefront end 2030 and the rear end 2040. The battery module 2065 may beconfigured to provide energy to the tractive elements 2050 to drive thedelivery vehicle 2000. Additionally or alternatively, the deliveryvehicle 2000 may include a fuel cell (e.g., a hydrogen fuel cell) thatprovides electrical energy to power the delivery vehicle 2000. In otherembodiments, the delivery vehicle 2000 may include an internalcombustion engine (ICE) that is powered via a fuel source (e.g., gas,diesel, etc.).

The delivery vehicle 2000 may include a carrier 2070 (e.g., a solarpanel support or solar panel storage portion). The carrier 2070 islaterally provided above the chassis 2010. In other embodiments, thecarrier may be longitudinally provided relative to the chassis 2010. Thecarrier 2070 includes a first portion 2070 a (e.g., a base assembly orbase) extending in a direction parallel to the chassis 2010 and a secondportion 2070 b (e.g., a headboard assembly or headboard) extending in adirection perpendicular to the first portion 2070 a. The carrier 2070 isconfigured to secure one or more solar panels 16. By way of example, thesolar panels 16 may be positioned on pallets, referred to herein aspallets of solar panels 16, but may also be individual solar panels 16.That is, the carrier 2070 is configured as a support for the solarpanels 16 to be positioned on, where the carrier 2070 includes one ormore hinge mechanisms 2080 (e.g., hinges) that secure the solar panels16 into a transit position. Specifically, the carrier 2070 defines astowage area configured to receive the solar panels 16. The transitposition may be a position in which the solar panels 16 are secured andready for transportation to the job site. The solar panels 16 may bepositioned in either a horizontal, vertical, inverted, upright, etc.relative to the first portion 2070 a. In some embodiments, the solarpanels 16 may be positioned in a combination of the positions. Eachhinge mechanism 2080 may include a bracket 2090 and an elongated member2095 extending from the bracket 2090. The bracket 2090 may be slidablycoupled to the first portion 2070 a of the carrier 2070 along a firstaxis 2160. By way of example, the bracket 2090 may slide along the firstaxis 2160 to change a width of the carrier 2070. As may be appreciated,the carrier 2070 may be positioned into a first position to position thesolar panels 16 onto the first portion 2070 a, and then positioned intoa second position to be proximate an end of the solar panels 16.

The elongated member 2095 may extend outward from the hinge mechanism2080. Additionally or alternatively, the elongated member 2095 may bepivotable between a first position and a second position. The firstposition may be a vertically oriented position or deployed barrierposition, where the elongated member 2095 extends substantially parallelto the second portion 2070 b. The second position may be a horizontallyoriented position or stowed position, where the elongated member 2095extends substantially parallel to the first portion 2070 a. Theelongated member 2095 may extend at or above a height of the solarpanels 16. That is, the top solar panel 16 may abut the elongated member2095 to secure the solar panels 16. In some embodiments, the solarpanels 16 may be positioned above the elongated member 2095. By way ofexample, the carrier 2070 may include two hinge mechanisms 2080, offsetone another. In other embodiments, the hinge mechanisms 2080 may bepositioned along different sidewalls of the carrier 2070. As may beappreciated, the hinge mechanisms 2080 are independently actuatedrelative to one another.

To unload the solar panels 16, the delivery vehicle 2000 may drive nextto an installation vehicle (e.g., installation vehicle 22), where thesolar panels 16 are unloaded by the installation vehicle. Theinstallation vehicle may take the solar panel 16 off of the carrier 2070as needed to install the solar panels 16. In one example, theinstallation vehicle is stationary, where the delivery vehicle 2000 isstopped, parked, or otherwise not in motion next to the installationvehicle. In another example, the installation vehicle is in motion,where the delivery vehicle 2000 is in motion at a substantially similarspeed as the installation vehicle.

In one example, the installation vehicle may grab one solar panel 16 ata time. In such an example, the installation vehicle may include adevice capable of grabbing the solar panel 16 from the delivery vehicle.For example, the device may include an attachment feature (e.g., theimplement 745) that interfaces with a single solar panel 16 at a time.In another example, the installation vehicle may grab multiple solarpanels 16 at a time. In such an example, the installation vehicle mayinclude a device capable of grabbing the solar panel 16 from thedelivery vehicle. For example, the device may include an attachmentfeature that interfaces with multiple solar panels 16 at a time. In yetanother example, the installation vehicle may grab the pallet of solarpanels 16. In such an example, the installation vehicle may include anassembly capable of receiving, and holding, the pallet of solar panels16.

In still another example, the delivery vehicle 2000 may become a tetherby mechanically coupling to the installation vehicle. Upon arriving atthe jobsite, the delivery vehicle 2000 may be coupled to theinstallation vehicle via a tether. Accordingly, the delivery vehicle2000 may be operably coupled to the installation vehicle via the tether,where status information may be provided between the vehicles. In someembodiments, the installation vehicle may be a master vehicle and thedelivery vehicle 2000 may be a slave vehicle.

The delivery vehicle 2000 may be configured to reorient the solar panels16. In one example, the delivery vehicle 2000 reorients the solar panels16 by moving the delivery vehicle 2000. In such an example, the deliveryvehicle 2000 may determine a position of the installation vehicle and aposition of the jobsite. In response to receiving the position data, thedelivery vehicle 2000 may determine the best position of the solarpanels 16 for the installation vehicle. Accordingly, the deliveryvehicle 2000 may reposition into the best position. In another example,the carrier 2070 reorients the solar panels 16. In such an example, thecarrier 2070 may include an actuator that is configured to rotate aboutan axis or pivot about an axis to reposition the carrier into the bestposition for the installation vehicle. As may be appreciated,positioning the delivery vehicle 2000 into the best position for theinstallation vehicle advantageously positions the solar panels 16 into aposition for the installation vehicle to grab the solar panels 16.

The delivery vehicle 2000 may be an autonomous delivery vehicle. Inother embodiments, the delivery vehicle 2000 may include an operatorride-on station. In other embodiments, the delivery vehicle 2000 mayinclude a wireless or tether remote control. In still other embodiments,the delivery vehicle 2000 may be teleoperated. In still otherembodiments, the delivery vehicle 2000 may include a combinationthereof. As discussed above, the delivery vehicle 2000 includesprocessing circuitry 104 to control actuation of the delivery vehicle2000. The delivery vehicle 2000 may then travel down a predeterminedpath or map of the jobsite. In one embodiment, the delivery vehicle 2000may have a jobsite map loaded into the processing circuitry 104. Inanother embodiment, the delivery vehicle 2000 may receive thepredetermined path via a communication device (e.g., wireless,telecommunication, Bluetooth, satellite, etc.).

Referring now to FIGS. 49 and 50 , the delivery vehicle 2000 is shownaccording to an alternative embodiment. The delivery vehicle 2000 ofFIGS. 49 and 50 may be substantially similar to the delivery vehicle2000 of FIG. 46 except as otherwise specified. As shown in FIGS. 49 and50 , the delivery vehicle 2000 does not include a carrier 2070 andinstead includes a platform provided in a horizontal position above thechassis 2010. The platform may be configured to support the solar panels16 (e.g., as shown in FIG. 50 ). The delivery vehicle 2000 may includetwo platforms provided on opposite sides of the battery module 2065.Additionally or alternatively, the delivery vehicle 2000 may includemultiple battery modules 2065. The battery modules 2065 may beassociated with independent chassis 2010. Additionally or alternatively,one of the battery modules 2065 may be configured as a main batterymodule and the other battery module may be configured as a secondarybattery module 2065.

Referring now to FIGS. 51 and 52 , the delivery vehicle 2000 is shownaccording to another alternate embodiment. The delivery vehicle 2000 ofFIGS. 51 and 52 may be substantially similar to the delivery vehicle2000 of FIG. 46 except as otherwise specified. As shown in FIGS. 51 and52 , the delivery vehicle 2000 does not include a carrier 2070 andinstead includes a platform provided in a horizontal position above thechassis 2010. The platform may be configured to support the solar panels16 (e.g., as shown in FIG. 52 ). The delivery vehicle 2000 may includetwo platforms provided proximate one another.

Referring now to FIG. 53 , the delivery vehicle 2000 is shown accordingto another alternate embodiment. The delivery vehicle 2000 of FIG. 53may be substantially similar to the delivery vehicle 2000 of FIG. 46except as otherwise specified. As shown in FIG. 53 the delivery vehicle2000 has tracks as tractive elements 2050. As may be appreciated, thetracks allow the delivery vehicle 2000 to have improved terrainabilityfor traveling through jobsites or varying road conditions. The deliveryvehicle 2000 may include a lift system (e.g., forks coupled to avertical lift etc.) that is configured to receive a pallet of solarpanels 16. In one example, the delivery vehicle 2000 may drop the palletof solar panels 16 at the jobsite. In another example, the deliveryvehicle 2000 may follow the installation vehicle, where the installationvehicle grabs solar panels 16 from the delivery vehicle 2000.

Referring now to FIGS. 54 and 55 , the delivery vehicle 2000 is shownaccording to another alternate embodiment. The delivery vehicle 2000 ofFIGS. 54 and 55 may be substantially similar to the delivery vehicle2000 of FIG. 46 except as otherwise specified. The delivery vehicle 2000may be defined as an autonomous work vehicle (AWV). The AWV may includea frame assembly 2092 extending laterally from a side of the deliveryvehicle 2000. The frame assembly 2092 may include an attachmentassembly, shown as implement 2094, that is configured to interface withthe pallet of solar panels 16 or individual solar panels 16 to installor orient the solar panels 16 in the jobsite. By way of example, theimplement 2094 may include a robotic arm similar to the implement 745.Accordingly, the implement 2094 may be rotatably coupled to the frameassembly 2092, where the implement 2094 may rotate to position the solarpanels 16 in a better position for installation.

Referring now to FIGS. 56 and 57 , the delivery vehicle 2000 is shownaccording to another alternate embodiment. The delivery vehicle 2000 ofFIGS. 56 and 57 may be substantially similar to the delivery vehicle2000 of FIGS. 54 and 55 except as otherwise specified. The deliveryvehicle 2000 may be defined as an autonomous work vehicle (AWV). The AWVmay be include a frame assembly 2092 extending laterally from a rear ofthe delivery vehicle 2000. The frame assembly 2092 may include anattachment assembly, shown as implement 2094, that is configured tointerface with the pallet of solar panels 16 or individual solar panels16 to install or orient the solar panels 16 in the jobsite. Accordingly,the implement 2094 may be rotatably coupled to the frame assembly, wherethe attachment assembly may rotate to position the solar panels 16 in abetter position for installation. As may be appreciated, the deliveryvehicle 2000 may be capable of installing solar panels 16 on either sideof the delivery vehicle 2000 by rotating the frame assembly 2092 to theassociated side.

Modular Solar Panel Carrier

In some embodiments, at least one vehicle described herein may include asolar panel carrier. For example, the transportation vehicle 20 (e.g.,the delivery vehicle 2000) may include the solar panel carrier. Somesolar panels 16 may be carried, transported, supported, and/or otherwiseheld by the solar panel carrier described herein. Solar panels 16 mayhave various shapes, dimensions, designs, and/or configurations. Thesolar panel carrier may include one or more components and thecomponents may be modular and/or configurable to store, hold, keep,and/or otherwise carry solar panels of various configurations. Themodularity and/or configurability of the solar panel carrier may providea seamless mode of transportation for solar panels. For example, thesize and/or area of at least one portion of the solar panel carrier mayeasily be adjusted and/or changed to accommodate solar panels havingvarious different sizes.

Some of the technical solutions described herein include adjustableand/or reconfigurable components that may be included in the solar panelcarrier. For example, the solar panel carrier may include a postassembly. The post assembly may include at least one post and the postsmay be coupled to a moveable and/or adjustable structural element. Forexample, the posts may be coupled to a beam (e.g., a structural element)and the beam may move and/or otherwise change locations to dispose theposts in various locations of the carrier. In some embodiments, the beammay rest within, insert into, slide into, and/or otherwise fit into atleast one recess and/or opening of a component disposed on the carrier.For example, the solar panel carrier may include one or more structuralelements that include at least one of a hollow body, an opening, anaperture, a recess, a slot, and/or among other possible spaces and/orareas that may receive the posts (e.g., the structural element coupledto the posts).

The repositioning and/or rearrangement of the post assembly (e.g.,adjusting the location and/or placement of the structural element) mayresult in a change and/or adjustment in an orientation of the post. Forexample, the post assembly may be coupled with the solar panel carriersin a first location and a second location. The posts may have a firstorientation and a second orientation. For example, the post may have avertical orientation and a horizontal orientation. The orientation ofthe posts may be based on a given component of the solar panel carrier.For example, the posts may have the first orientation when the posts arecoupled with a first component of the solar panel carrier and the postsmay have the second orientation when the posts are coupled with a secondcomponent.

FIG. 58 depicts a perspective view of a carrier 2100, according to anexemplary embodiment. The carrier 2100 may be and/or include the solarpanel carrier described herein. The carrier 2100 includes at least onepost assembly 2103 (e.g., a pair of post assemblies 2103 on opposingsides of the carrier 2100 forming a first side support assembly or firstside support and a second side support assembly or second side support,respectively), at least one body 2118, at least one structural element2125, at least one structural element 2135, at least one post 2140(e.g., two posts 2140 forming a barrier assembly or barrier), at leastone surface 2150, and at least one actuator 2155. The body 2118 may bedisposed beneath the surface 2150 (e.g., the body 2118 may form a baseassembly defining the surface 2150). For example, the surface 2150 maybe coupled with the body 2118 and the surface 2150 may be disposed ontop of and otherwise above the body 2118. The body 2118 may be disposedbetween the surface 2150 and a ground surface. For example, the body2118 may be located between the surface 2150 and a road. The body 2118may include at least one portion 2120. The portions 2120 may be and/orinclude at least one of body structures, body elements, body members,and/or body framing. For example, the portions 2120 may be at least oneof a shaft and/or a rod with an opening, a hollow beam, a bracket, asupport structure, a receiver channel, a slot, a recess, a void, achannel, a hollow body, an aperture, and/or a joint receiver.

The post assembly 2103 (e.g., a side support assembly) may be and/orinclude the post assembly described herein. The post assembly 2103 mayinclude at least one post 2105, at least one member 2110, and at leastone member 2115. The posts 2105 may be and/or include the postsdescribed herein. The member 2110 may be and/or cross-members. Thecross-members 2110 may couple one or more posts 2105 with another. Forexample, a first post 2105 and a second post 2105 may be coupled withthe cross-member 2110 and the cross-member 2110 may couple the firstpost 2105 with the second post 2105. The cross-members 2110 may beand/or include at least one of a bar, a railing, a bracket, a membrane,a linkage, and/or among other possible elements. The members 2115 may beand/or include structural elements. The structural elements 2115 may beand/or include at least one of a bar, a beam, a joist, a strut, a board,and/or among other possible elements. The structural element 2115 mayrest within, insert into, slide into, and/or otherwise enter a portionand/or a component of the carrier 2100 (e.g., the portions 2120). FIG.58 depicts an example of the structural elements 2115 resting within areceiver channel (e.g., a portion 2120).

The structural elements 2115 may removably couple the post assembly 2103with the carrier 2100. For example, the post assembly 2103 may becoupled with the carrier 2100 when the structural elements 2115 areresting within the portions 2120 and the post assembly 2103 may bedecoupled from the carrier 2100 responsive to the structural elements2115 leaving and/or otherwise exiting the portions 2120. The posts 2105may have at least one orientation. For example, the posts 2105 may haveat least one of a vertical orientation, a horizontal orientation, anupright orientation, a sideways orientation, a lateral orientation,and/or among other possible orientations. In some embodiments, the posts2105 may define and/or extend along an axis 2177 when the posts 2105 arein a vertical orientation. FIG. 58 depicts an example of the posts 2105extending along the axis 2177.

The orientations of the posts 2105 may be and/or include at least one aplacement, a direction, a location, an alignment, a bearing, anarrangement, and/or among various possible combinations. Theorientations of the posts 2105 may be based on and/or impacted by thestructural elements 2115. For example, the posts 2105 may have a firstorientation (e.g., vertical) with the structural elements 2115 insertedinto a first portion of the carrier 2100 and the posts 2105 may have asecond orientation (e.g., horizontal) with the structural elements 2115inserted into a second portion of the carrier 2100. For example, theorientation of the posts 2105 may change responsive to the structuralelements 2115 decoupling, from a first position, the post assembly 2103with the carrier 2100 and then recouping, in a second position, the postassembly 2103 with the carrier.

The post assembly 2103 may be movably coupled with the carrier 2100. Forexample, the post assembly 2103 may be coupled with an actuator and theactuator may adjust, extend, retract, lengthen, shorten, and/orotherwise move the post assembly 2103. In some embodiments, the carrier2100 may include a first post assembly 2103 and a second post assembly2103. The first post assembly 2103 and the second post assembly 2103 mayhave at least one length and/or distance between them (e.g., how closeand/or far apart the post assemblies 2103 are from each other). Thelength between the post assemblies 2103 may be adjusted. For example,the post assemblies 2103 may have a first distance between them when theactuators and/or the post assemblies 2103 are in a retracted positionand the post assemblies 2103 may have a second distance between themwhen the actuators and/or the post assemblies 2103 are in an extendedposition. The distance between the post assemblies 2103 may adjust,change, adjust, and/or otherwise define a boundary and/or a border forthe surface 2150. For example, the distance between the post assemblies2103 may define an amount of available and/or useable area of thesurface 2150.

The post assemblies 2103 may slide, adjust, and/or otherwise move alongan axis 2175. The axis 2175 may define at least one direction andmovement path. For example, the axis 2175 may define a side to sideand/or a left to right direction. FIG. 58 depicts the movementdirections as directions 2180 and 2185. In some embodiments, themovement of the post assemblies 2103 in the direction 2180 may be and/orinclude moving towards the left and the movement of the post assemblies2103 in the direction 2185 may be and/or include moving towards theright. In some embodiments, the post assemblies 2103 may moveindependent from one another. For example, a first post assembly 2103may move in the direction 2185 and a second post assembly 2103 may movein the direction 2185.

In some embodiments, the posts 2105 may extend along a given axis whenthe posts 2105 have a first orientation. For example, the posts 2105 mayextend along the axis 2177 when the posts 2105 are in a verticalorientation. Similarly, the posts 2105 may extend along a second givenaxis when the posts 2105 have a second orientation. For example, theposts 2105 may extend along axis 2160 when the posts 2105 are in ahorizontal orientation.

The structural elements 2125 may be and/or include at least one element,component, and/or member described herein. For example, the structuralelements 2125 may be and/or include a beam. The structural elements 2125may extend along the axis 2175. For example, the structural elements2125 may have a horizontal orientation extending along the axis 2175.The structural elements 2125 may include openings 2130 and/or channels2130. The openings 2130 may receive and/or otherwise accept thestructural elements 2115. For example, the structural elements 2115 mayinsert into and/or otherwise rest within the structural elements 2125via the openings 2130. The structural elements 2115 may couple the postassemblies 2103 with the carrier 2100 responsive to the structuralelements inserting into the openings 2130.

In some embodiments, the structural elements 2115 may retreat and/orotherwise exit the portion 2120 to decouple the post assembly 2103 fromthe carrier 2100 and the structural elements 2115 may enter and/orotherwise rest within the openings 2130 to recouple the post assembly2103 with the carrier 2100. The decoupling and then recoupling of thepost assembly 2103 may change, adjust, and/or otherwise switch theorientation of the posts 2105. For example, the posts 2105 may have afirst orientation, with the post assembly 2103 coupled with the portions2120, and the posts 2105 may have a second orientation with the postassembly 2103 coupled with the openings 2130.

The post 2140 may include at least one element 2145 or linkage. Theelement 2145 may be and/or include at least one of a bar, a rod, ashaft, a joint, a rail, and/or among other possible elements. The post2140 may be coupled with the carrier 2100. In some embodiments, theelement 2145 may be coupled with the portions 2120. For example, theportions 2120 may be a shaft with an opening and the element 2145 mayinsert into and/or otherwise enter the opening to couple the post 2140with the carrier 2100. The posts 2140 may be movably coupled with theactuators 2155. The actuators 2155 may rotate, spin, adjust, and/orother move the posts 2140 about an axis 2160. For example, the posts2140 may spin or rotate about the axis 2160 to move from a firstposition (e.g., a deployed barrier position shown in FIG. 64 ) to asecond position (e.g., a stowed position shown in FIG. 59 ). Theactuators 2155 may also move the posts 2140 along the axis 2160 toadjust a depth of the stowage area (e.g., measured parallel to the axis2160). For example, the actuators 2155 may include a linear actuator2155 and a rotational actuator 2155. The linear actuator 2155 may movethe posts 2140 along the directions 2165 and/or 2170 that are defined bythe axis 2160.

The surface 2150 may hold, support, and/or carry at least one object.For example, the surface 2150 may hold solar panels. The post assemblies2103 may extend and/or lengthen to provide a first amount of area of thesurface 2150. For example, a first post assembly 2103 may move in thedirection 2180 and a second post assembly 2103 may move in the direction2185 to create a first distance between the post assemblies 2103. Thefirst distance may be and/or include a lengthen position. To continuethis example the first post assembly 2103 may move in the direction 2185and the second post assembly 2103 may move in the direction 2180 tocreate a second distance between the post assemblies 2103. The seconddistance may be and/or include a retracted position. In someembodiments, the first distance between the post assemblies 2103 may belarger than the second distance between post assemblies 2103. Forexample, the post assemblies 2103 may be further apart from each otherwhen they are in the lengthened position in comparison to the retractedposition. FIG. 58 depicts an example of the post assemblies 2103 in theextended position and an example of the posts 2105 being a distance 2190from each other. In some embodiments, the distance 2190 may defineand/or otherwise establish the amount of useable and/or available areafor the surface 2150.

The structural elements 2135 and 2125 may define and/or otherwiseestablish at least one side of the carrier 2100 (e.g., a headboardassembly). For example, the structural elements 2135 and 2125 may definea rear and/or back side of the carrier 2100. The back side may define arearmost portion of the surface 2150. For example, the solar panels maybe placed on the surface 2150 but cannot extend and/or be located beyondthe structural elements 2135 and 2125. The posts 2140 may define and/orotherwise establish at least one side of the carrier 2100. For example,the posts 2140 may define a front side of the carrier 2100. The frontside may define a frontmost portion of the surface 2150. The postassemblies 2103 may define at least one side of the carrier 2100. Forexample, the post assemblies 2103 may define left side of the carrier2100. The left side may define a leftmost portion of the carrier 2100.

FIG. 59 depicts a perspective view of the carrier 2100. The postassemblies 2103 may be coupled with the carrier 2100. For example, thestructural elements 2115 may be inserted into the openings 2130 tocouple the post assemblies 2103 with the elements 2125. The posts 2105are shown to have a horizontal orientation. For example, the posts 2105may extend along the axis 2160 and the posts 2105 extending along theaxis 2160 may define the horizontal orientation for the posts 2105. Thecross-member 2110 may be coupled with an actuator 2205 (e.g., at a firstinterface). An opposing end of the actuator 2205 may be coupled to thebody 2118 or the structural elements 2125 and 2135 (e.g., at a secondinterface). The actuator 2205 may be and/or include at least one of theactuators described herein. For example, the actuator 2205 may be alinear actuator and the actuators 2205 may move, lengthen, retract,and/or extend the post assemblies 2103 along the axis 2175. The actuator2205 may move the post assemblies 2103 to support and/or release atleast one object. For example, a solar panel array (e.g., a collectionof solar panels) may be place on the surface 2150 and the actuator 2205may retract the post assemblies 2103 to have the posts 2105 support,contact, and/or hold the solar panel array in place. To continue thisexample, the actuators 2205 may extend the post assemblies 2103 to havethe posts 2105 release (e.g., no longer make contact with) the solarpanel array. The actuators 205 may facilitate holding the solar panelsin place (e.g., by clamping the solar panels between the posts 105)and/or expanding the distance between the posts 105 (e.g., the distance710) to accommodate wider solar panels.

In some embodiments, the posts described herein (e.g., the posts 2105and the posts 2140) may include an outer layer and/or an outerstructure. For example, the posts 2105 may have a rod disposed betweenand/or within a cavity defined by hollow cylinder (e.g., the outerstructure). In this example, the outer structure may be and/or includepadding, cushion material, foam material, and/or otherwise absorptivematerial. For example, the posts 2105 may include a rod surrounded by apad (e.g., the outer layer). The outer layer may provide an absorptionfactor for the posts 2105. For example, the absorption factor may resultin the posts 2105 contacting and/or support the solar panel arrays whileproviding a barrier (e.g., the outer layer) between the posts 2105 andthe solar panel arrays. In some embodiments, various components of thecarrier 2100 may include outer structures. For example, the elements2125 may include an outer foam layer.

FIG. 60 depicts a perspective bottom view of the carrier 2100. Thecarrier may include at least one actuator 2305 and at least one opening2312. The actuator 2305 may be and/or include at least one actuatordescribed herein. For example, the actuator 2305 may a linear actuator.The actuator 2305 may include at least one tube 2307. The tube 2307 maybe coupled with the element 2145 at a first interface and with the body2118 at a second interface. For example, the tube 2307 may include aneye and/or opening and the element 2145 may be inserted though theopening to couple the tube 2307 with the element 2145. The actuator 2305may move the post 2140. For example, the actuator 2305 may move the post2140 along the axis 2160. The post 2140 may include at least one shaft2310. The shaft 2310 may be coupled with the element 2145. The shaft2310 may also be coupled with the opening 2312. The opening 2312 may beand/or include the portions 2120. The shaft 2310 may insert through theopening 2312 and the shaft 2310 may couple with an actuator (e.g., theactuator 2155). For example, the shaft 2310 may include a pivoting armand the pivoting arm may couple with the actuator 2155. The actuator2155 may move the pivoting arm to rotate the posts 2140 about the axis2160.

FIG. 61 depicts a perspective view of components of the carrier 2100.The actuator 2305 is shown coupled with the element 2145 via linkage2405. The linkage 2405 may be and/or include at least one of a shaftwith two openings, a bracket with two openings, and/or other possiblelinkage elements. The two openings may include at least one opening forthe element 2145 and at least one opening for the tube 2307.

FIG. 62 depicts a perspective view of components of the carrier 2100.The element 2145 is shown coupled with the shaft 2310 and the shaft 2310is shown extending through the opening 2312. The opening 2312 may couplethe shaft 2310 with the carrier 2100. For example, the shaft 2310extending through the opening 2312 may couple the shaft 2310 with thebody 2118 of the carrier 2100. At least one end of the shaft 2310 may becoupled with an actuator. For example, a first end of the shaft 2310 maybe coupled with the element 2145 and a second end of the shaft 2310 maybe coupled with the actuator.

FIG. 63 depicts a perspective rear view of the carrier 2100. Theactuators 2155 may be coupled with the shaft 2310 at a first interfaceand with a structural element 2125 at a second interface. The actuators2155 may move, pivot, swing, and/or otherwise move the shaft 2310. Theactuators 2155 moving the elements 2145 may cause the posts 2140 torotate about the axis 2160. The carrier 2100 may hold at least one solarpanel array 2615. For example, the solar panel arrays 2615 may be placedon a pallet 2610 and the pallet 2610 may rest on the surface 2150. Thesolar panel arrays 2615 may include at least one solar panel 16. Thesolar panels 16 may be stacked and/or otherwise positioned on top ofeach other. The post assemblies 2103 may be in a retracted position. Forexample, the post assemblies 2103 may move towards one another, alongthe axis 2175, to decrease a distance between the post assemblies 2103.The posts 2105 may hold the solar panels 16 with the post assemblies2103 in the retracted position. The posts 2105 holding the solar panels16 support, secure, and/or otherwise affix the solar panels 16 with thecarrier 2100.

FIG. 64 depicts a perspective view of the carrier 2100. The posts 2140may rotate, swing, pivot, and/or otherwise move between positions. Forexample, the posts 2140 may move about the axis 2160 to move from afirst position to a second position. The posts 2140 moving betweenrespective positions (e.g., moving from the first position to the secondposition) may provide access to respective solar panels 16. For example,the posts 2140 may secure the solar panels 16 while in the firstposition (e.g., the posts 2140 may provide and/or create an obstructionto prevent the solar panels from moving in the direction 2165). Tocontinue this example, the posts 2140 may provide access to a respectivesolar panel 16 (e.g., a top solar panel) responsive to the posts 2140moving from the first position to the second position (e.g., the posts2140 is no longer providing an obstruction to the top solar panel). Theposts 2140 may also prevent access to a second respective solar panel 16while in the second position. For example, the posts 2140 may provide anobstruction to a solar panel 16 disposed beneath and/or under the topsolar panel 16).

The posts 2140 may move from at least one vertical position to at leastone horizontal position. For example, the posts 2140 may extend alongthe axis 2177 while in a vertical position and the posts 2140 may extendalong the axis 2175 while in a horizontal position. The posts 2140 maybe disposed at least partially above the surface 2150. For example, theposts 2140 may be disposed at least partially above the surface 2150with the posts 2140 in a position that is providing an obstruction to atleast one solar panel 16. FIG. 64 depicts an example of a first post2140 disposed at least partially above the surface 2150. The posts 2140may be disposed at least partially between the surface 2150 and a groundsurface. For example, the posts 2140 may be disposed between the surface2150 and the ground surface with the posts extending along the axis2175. FIG. 64 depicts an example of a second post 2140 disposed beneaththe surface 2150. The second posts 2140 extending along the axis 2175 isshown to provide and/or otherwise define a distance 2705 between thesurface 2150 and the second post 2140. The distance 2705 may provide,create, and/or otherwise establish an access point for at least one ofthe pallet 2610 and/or the solar panel arrays 2615. For example, thedistance 2705 between the posts 2140 and the surface 2150 may provideroom for the solar panel arrays 2615 to be placed, located, and/orotherwise positioned on the surface 2150.

The posts 2105 may support the solar panels 16. For example, the postassemblies 2103 may move to a retreated position (e.g., the postassemblies 2103 may move towards each other) to move the posts 2105towards the solar panels 16. The posts 2105 may hold, keep, and/orotherwise secure the solar panels 16. The post assemblies 2103 in theretracted position may define a distance 2710. The distance 2710 may adistance between the posts 2105 of respective post assemblies 2103. Thedistance 2710 may be less than the distance 2190 (e.g., the postassemblies 2103 in the retracted position defining the distance 2710 arecloser to one another in comparison to the post assemblies in theextended position defining the distance 2190).

In some embodiments, the carrier 2100 may be mounted, secured, attached,placed, and/or otherwise coupled with at least one vehicle. For example,the carrier 2100 may be coupled to a frame and/or a rearward portion ofa cab of a truck. The carrier 2100 may hold the solar panel arrays 2615and the truck may transport, move, and/or otherwise deliver the solarpanel arrays 2615 to at least one location. For example, the truck maytransport the solar panel arrays 2615 from a supply site to aconstruction site.

Autonomous Delivery Vehicle

In some embodiments, the various vehicles described herein may be and/orimplemented as autonomous vehicles. In other embodiments the vehiclesare partially autonomous or entirely operator-controlled. For example,the delivery vehicle 2000 may include a controller (e.g., the controller102) and the controller may provide signals to various elements and/orcomponents of the delivery vehicle 2000 to move and/or otherwise controlthe delivery vehicle 2000. For example, the controller 102 may providesignals to the tractive elements 2050 to move the delivery vehicle 2000from a location to a second location.

In some embodiments, the controller 102 may receive informationpertaining to a jobsite (e.g., a solar panel installation site, aconstruction site, a residential location, a warehouse, a commercialbuilding, and/or among other possible sites) and the controller 102 mayuse the information pertaining to the jobsite to controller the deliveryvehicle 2000. For example, the controller 102 may receive, from thecloud computing system 110, a location of a jobsite and the controller102 may use the location of the jobsite to generate a travel route forthe delivery vehicle 2000. The controller 102 may control the deliveryvehicle 2000 to travel from a current location (e.g., the location ofthe delivery vehicle 2000) to the location of the jobsite based on thetravel route.

FIG. 65 depicts a perspective view of an Autonomous Delivery Vehicle(ADV) 2800, according to an exemplary embodiment. The ADV 2800 may beand/or include at least one vehicle described herein. For example, theADV 2800 may be the transportation vehicle 20. In some embodiments, thevarious vehicles described herein may be implemented as, carried out as,executed as, and/or otherwise applied as the ADV 2800. For example, thedelivery vehicle 2000 may be implemented as the ADV 2800. In someembodiments, the ADV 2800 may perform similar functionality to that ofthe various vehicles described herein. For example, the ADV 2800 mayperform similar functionality to that of the transportation vehicle 20.In some embodiments, the ADV 2800 may include similar components to thatof the various vehicles described herein. For example, the ADV 2800 mayinclude the controller 102 and/or the processing circuitry 104.

The ADV 2800 may include at least one tracking device 2805, at least onesensor 2810, at least one housing 2815, at least one chassis 2820, andat least one actuator 2825. The ADV 2800 is shown to include and/ordefine at least one back side 2830 and at least one front side 2835. Insome embodiments, the housing 2815 may be coupled with the chassis 2820at a rear portion of the ADV 2800 (e.g., the back side 2830). Thecarrier 2100 may be coupled with the chassis 2820 at a front portion ofthe ADV 2800 (e.g., the front side 2835). Specifically, as shown in FIG.68 , the carrier 2100 is pivotably coupled to the chassis 2820 at apivot point 2822. The carrier 2100 is rotatable about a lateral axisextending through the pivot point 2822 (e.g., as shown in FIGS. 68-70 ).The housing 2815 may define, establish, created, and/or otherwiseprovide a body to enclose various components of the ADV 2800. Forexample, the housing 2815 may enclose and/or otherwise cover a batterymodule that powers the ADV 2800. The housing 2815 may also define asurface for which the tracking device 2805 may be coupled with the ADV2800. For example, FIG. 65 depicts an example of the tracking device2805 coupled with a top surface of the housing 2815.

The tracking device 2805 may interface with, interact with, and/orotherwise communicate with the various systems and/or devices describedherein. For example, the tracking device 2805 may be and/or include anetwork interface and the tracking device 2805 may communicate with thecloud computing system 110. The tracking device 2805 may providelocation information (e.g., GPS coordinate, vehicle bearings, vehiclepositional metrics, etc.) to the cloud computing system 110. Thetracking device 2805 may be and/or include at least one of acommunication component, a transceiver, a receiver, a transceiver, atransponder, a navigation device, a data pusher, a data puller, and/oramong various possible communication and/or network devices. Thetracking device 2805 may interact with, interface with, and/or otherwisecommunicate with the various components of the ADV 2800. For example,the tracking device 2805 may receive operational information from thesensors 2810.

The sensors 2810 may be and/or include at least one of a proximitysensor, a camera, an object detection device, an object recognitiondevice, a position sensor, a motion sensor, a gyroscope, and/or amongother possible devices. The sensors 2810 may be in communication withthe tracking device 2805 and the controller 102. For example, thesensors 2810 may provide positional information of the ADV 2800 to thecontroller 102. While FIG. 66 depicts an example of the sensors 2810disposed on the rear of the ADV 2800 (e.g., the back side 2830), thesensors 2810 may be disposed on various portions of the ADV 2800. Forexample, at least one sensor 2810 may be disposed on each side of theADV 2800. The sensors 2810 may also be disposed on and/or incommunication with various components of the ADV 2800. For example, thesensors 2810 may be disposed on a portion of the carrier 2100 and thesensors 2810 may detect and/or otherwise track the position and/ormovement of the carrier 2100.

The actuator 2825 may be coupled with the chassis 2820 at a firstinterface and the actuator 2825 may be coupled with the carrier 2100 ata second interface. For example, a first end and/or a first point of theactuator 2825 may be coupled with the chassis 2820 and a second endand/or a second point of the actuator 2825 may be coupled with thecarrier 2100. The actuator 2825 may be and/or include at least one of alinear actuator, a pneumatic actuator, a hydraulic system, a liftdevice, and/or among various other possible moveable elements. Theactuator 2825 may be in communication with the controller 102. Forexample, the actuator 2825 may receive, from the controller 102, controlsignals that cause the actuator 2825 to move (e.g., extend, lengthen,shorten, retract, etc.) from a first location to a second location. Theactuator 2825 moving may cause the carrier 2100 to move. For example,the carrier 2100 may have a first orientation and/or a first positionand the actuator 2825 may move the carrier 2100 to a second orientationand/or a second position. FIG. 65 depicts an example of the carrier 2100having a neutral orientation (e.g., the body of the carrier 2100 issubstantially parallel to a ground surface in contact with tractiveelements (e.g., wheels) of the ADV 2800.

FIG. 66 depicts a perspective of the ADV 2800, according to an exemplaryembodiment. The housing 2815 is shown to have been removed (e.g.,decoupled) from the ADV 2800. The ADV 2800 may include the controller102. The ADV 2800 may include at least one primary mover compartment2905 and at least one resource compartment 2910. The primary movercompartment 2905 may be and/or include at least one of a body, ahousing, an assembly, and/or otherwise a receptacle. The primary movercompartment 2905 may store, hold, confine, secure, and/or otherwisehouse at least one primary mover (e.g., an engine, a motor, a powersource (e.g., batteries, fuel cells, etc.) and the primary mover maymove the ADV 2800. The primary mover compartment 2905 and/or componentsthereof (e.g., the primary mover) may be in communication with thecontroller 102. For example, the controller 102 may transmit controlsignals that cause the primary mover to move the ADV 2800.

The resource compartment 2910 may be and/or include at least one of abody, a housing, an assembly, and/or otherwise a receptacle. Theresource compartment 2910 may store, hold, confine, secure, and/orotherwise house at least one substances and/or fluids that are used bythe ADV 2800. For example, the resource compartment 2910 may storehydraulic fluid that may be used by the actuator 2825. The resourcecompartment 2910 may store various that may be used by variouscomponents of the ADV 2800. For example, the ADV 2800 may include acombustion engine and the resource compartment 2910 may store a powersource (e.g., gasoline, fuel, etc.) that is used by the combustionengine.

FIG. 67 depicts a perspective view of the ADV 2800, according to anexemplary embodiment. The sensors 2810 are shown to be disposed towardsthe front (e.g., the front side 2835) of the ADV 2800. The carrier 2100is shown to be in a pitched and/or tilted orientation (e.g., at least aportion of the carrier 2100 is not parallel with a ground surface). Insome embodiments, the actuator 2825 may lengthen, extend, retract,and/or shorten to place the carrier in the pitched orientation. Forexample, a tube of the actuator 2825 may be retracted and the retractionof the tube may cause the carrier 2100 to move from the neutralorientation to the pitched orientation.

FIG. 68 depicts a perspective side view of the ADV 2800, according to anexemplary embodiment. The carrier 2100 and/or a component thereof maydefine and/or otherwise extend along an axis. FIG. 68 depicts an exampleof the carrier 2100 extending along an axis 3105. The ADV 2800 is showndefining and/or otherwise extending along an axis 3110. The axis 3110may correspond to and/or otherwise indicate a given ground surface thatthe ADV 2800 is in contact with (e.g., wheels of the ADV 2800 in contactwith a road). FIG. 68 depicts an example of the axis 3105 beingsubstantially parallel to that of the axis 3110 (e.g., the angle of axis3105 is substantially similar to the angle of the axis 3110). The angleof the axis 3105 defined by the carrier 2100 may be adjusted, changed,altered, and/or otherwise modified responsive to the actuators 2825moving the carrier 2100. For example, the actuator 2825 may retract andthe retraction may cause the carrier 2100 to tilt and/or otherwise pitchtowards the back side 2830 of the ADV 2800 (e.g., switch the carrier2100 from a neutral orientation to a pitched orientation. The actuator2825 may also extend and/or lengthen to tilt and/or pitch the carrier2100 towards the front side 2835.

FIG. 69 depicts a side perspective view of the ADV 2800, according to anexemplary embodiment. The carrier 2100 may have a pitched orientation.For example, the body 2118 of the carrier 2100 may be at least one ofslanted, sloped, inclined, declined, and/or otherwise angled. FIG. 69depicts an example of the carrier 2100 having a forward tilt (e.g., thecarrier 2100 is pitched towards the front of the ADV 2800). The carrier2100 may be moved, placed, positioned, and/or otherwise located in theforward tilt responsive to the controller 102 controlling the actuator2825. For example, the controller 102 may send signals, to the actuator2825, that may cause the actuator 2825 to the lengthen and/or extend tomove the carrier 2100 from a neutral orientation (e.g., the orientationshown in FIG. 68 ) to the orientation shown in FIG. 69 .

FIG. 70 depicts a side perspective view of the ADV 2800, according to anexemplary embodiment. The carrier 2100 is shown to have a backward tilt(e.g., the carrier 2100 is pitched towards the rear of the ADV 2800).The carrier 2100 may be positioned, located, and/or otherwise movedbetween orientations. For example, the carrier 2100 may be moved fromthe backward tilt, as shown in FIG. 70 , to the neutral tilt as shown inFIG. 68 . The controller 102 may send signals, to the actuator 2825,that may cause the actuator 2825 to the to move the carrier 2100 from aneutral orientation (e.g., the orientation shown in FIG. 68 ) to theorientation shown in FIG. 70 . For example, the actuator 2825 mayreceive signals, from the controller 102, that causes the actuator 2825to retract and/or retreat.

FIG. 71 depicts a perspective front view of the ADV 2800, according toan exemplary embodiment. The ADV 2800 may include at least one axleassembly 3405. The axle assemblies may be coupled with the chassis 2820.The axle assemblies 3405 may be in communication with the controller102. For example, the controller 102 may transmit control signals to theaxle assemblies 3405. The sensors 2810 may monitor, detect, and/or trackthe position of the axle assemblies 3405. For example, the sensors 2810may detect a tilt and/or a slope of the axle assemblies 3405. The ADV2800 may include at least one axle assembly 3405 for each respectivetractive element (e.g., wheels, treads, tracks, tires, etc.) and therespective axle assembly 3405 may move separate and/or in isolation toone another. For example, a first axle assembly 3405 may becontrollable, via the controller 102, to have the lilt and/or slop ofthe first axle assembly 3405 be changed. To continue this example, asecond axle assembly 3405 may maintain a tilt and/or slop separate fromthe first axle assembly 3405.

Shipping Container Unloader Telehandler

According to the exemplary embodiment shown in FIG. 72 , the unloadingmachinery 18 may be a vehicle or lift device, shown as telehandler 3000.The telehandler 3000 may be configured to remove solar panels 16 fromthe shipping container 14. By way of example, the telehandler 3000 maybe configured to engage with a stack of solar panels 16 (e.g., on apallet) within the shipping container 14 and remove the solar panels 16from the shipping container. The telehandler 3000 may then set the solarpanels 16 on the ground. Alternatively, the telehandler 3000 may providethe solar panels 16 directly to the transportation vehicle 20 (e.g., bysetting the stack of solar panels 16 into the carrier 2100 of thedelivery vehicle 2800.

The telehandler 3000 includes a chassis, shown as frame 3002. The frame3002 supports an enclosure, shown as cabin 3004, that is configured tohouse an operator of the telehandler 3000. The telehandler 3000 issupported by a series of tractive elements 3006 that are rotatablycoupled to the frame 3002. One or more of the tractive elements 3006 arepowered to facilitate motion of the telehandler 3000. A manipulator orlift assembly, shown as boom assembly 3100, is pivotally coupled to thetelehandler 3000 near a rear end of the frame 3002. The telehandler 3000is configured such that the operator controls the tractive elements 3006and the boom assembly 3100 from within the cabin 3004 to manipulate(e.g., move, carry, lift, transfer, etc.) a payload (e.g., pallets,solar panels, building materials, earth, grains, etc.).

Although the vehicle shown and described herein is a telehandler 3000,in other embodiments, the systems and methods described herein areutilized with another type of vehicle. By way of example, the vehiclemay be a work platform, a scissor lift, a vertical lift, a boom lift, oranother type of lift device.

In some embodiments, the boom assembly 3100 is approximately centered ona longitudinal centerline that extends along a length of the frame 3002.Such a placement may facilitate an even weight distribution between theleft and the right sides of the telehandler 3000. The cabin 3004 islaterally offset from the longitudinal centerline and the boom assembly3100. The cabin 3004 includes a door 3008 configured to facilitateselective access into the cabin 3004. The door 3008 may be located onthe lateral side of the cabin 3004 opposite the boom assembly 3100.

Each of the tractive elements 3006 may be powered or unpowered. In someembodiments, the telehandler 3000 includes a powertrain system includinga primary driver 3010 (e.g., an engine, an electric motor, etc.). Theprimary driver 3010 may receive fuel (e.g., gasoline, diesel, naturalgas, etc.) from a fuel tank and combust the fuel to generate mechanicalenergy. According to an exemplary embodiment, the primary driver 3010 isa compression-ignition internal combustion engine that utilizes dieselfuel. In alternative embodiments, the primary driver 3010 is anothertype of device (e.g., spark-ignition engine, fuel cell, etc.) that isotherwise powered (e.g., with gasoline, compressed natural gas,hydrogen, etc.). Additionally or alternatively, the primary driver 3010includes an electric motor that receives electrical energy from one ormore energy storage devices (e.g., batteries, capacitors, etc.) or anoffboard source of electrical energy (e.g., a power grid, a generator,etc.). In some embodiments, one or more pumps receive the mechanicalenergy from the primary driver 3010 and provide pressurized hydraulicfluid to power the tractive elements 3006 and the other hydrauliccomponents of the telehandler 3000 (e.g., the lift cylinders 3130, thetelescoping cylinder 3140, the tilt cylinder 3150, the levellingcylinders 3042, etc.). In the embodiment shown in FIG. 72 , the pumpsprovide pressurized hydraulic fluid to drivers or actuators (e.g.,hydraulic motors), shown as drive motors 3034, that are each coupled toone or more of the tractive elements 3006 (e.g., in a hydrostatictransmission arrangement). The drive motors 3034 each provide mechanicalenergy to one or more of the tractive elements 3006 to propel thetelehandler 3000. In other embodiments, one drive motor 3034 drives allof the tractive elements 3006. In other embodiments, the primary driver3010 provides mechanical energy to the tractive elements 3006 throughanother type of transmission.

Referring to FIG. 72 , the tractive elements 3006 are coupled to theframe 3002 by lateral support members, referred to as axles.Specifically, the two frontmost tractive elements 3006 are coupled toopposite ends of a first axle, and the two rearmost tractive elements3006 are coupled to opposite ends of a rear axle. The axles arepivotally coupled to the frame 3002 and configured to pivot relative tothe frame 3002 about a longitudinal axis, facilitating roll of the frame3002 about the longitudinal axis. The telehandler 3000 further includesa pair of linear actuators (e.g., hydraulic cylinders), shown aslevelling cylinders 3042, that are each coupled to one of the axles andto the frame 3002. The levelling cylinders 3042 are configured to extendand retract to rotate the frame 3002 relative to the axles, causing theframe 3002 to roll. The levelling cylinders 3042 may be controlled tolevel the frame 3002 on sloped or uneven surfaces. In some embodiments,the levelling cylinders 3042 are independently controlled to permitindependent control of the front and rear of the frame 3002.

In some embodiments, one or more of the tractive elements 3006 areconfigured to be steered to control the movement of the telehandler3000. The telehandler 3000 includes a pair of steering actuators (e.g.,hydraulic cylinders). The front steering cylinder is coupled to thefrontmost axle and coupled (e.g., by one or more tie rods) to each ofthe frontmost tractive elements 3006. The front steering cylinder isconfigured to translate laterally to rotate each of the front wheelsabout a corresponding vertical axis. When the front steering cylindermoves in a first direction from a center position, the tractive elements3006 turn to steer the telehandler 3000 to the left. When the frontsteering cylinder moves in a second direction opposite the firstdirection from the center position, the tractive elements 3006 turn tosteer the telehandler 3000 to the right. The rear steering cylinder iscoupled to the rearmost axle and coupled to each of the rearmosttractive elements 3006. The rear steering cylinder provides steeringcontrol of the rearmost tractive elements 3006. In some embodiments, thefront steering cylinder and the rear steering cylinder are independentlycontrolled. In some embodiments, the telehandler 3000 utilizes askidsteer arrangement (e.g., the tractive elements 3006 on the left sideof the telehandler 3000 move at a different speed and/or in a differentdirection than the tractive elements 3006 on the right side of thetelehandler 3000 to steer the telehandler 3000).

Referring still to FIG. 72 , the boom assembly 3100 is a telescopingassembly having a series of nested members including a proximal or basesection 3102, an intermediate or middle section 3104, and a distal orfly section 3106. The base section 3102 is pivotally coupled to the rearend of the frame 3002 such that the boom assembly 3100 is pivotableabout a lateral axis. The middle section 3104 is received within thebase section 3102 and extends outward beyond the base section 3102. Thefly section 3106 is received within the middle section 3104 and extendsoutward beyond the middle section 3104. In other embodiments, the middlesection 3104 is omitted, and the fly section 3106 is received directlywithin the base section 3102. In yet other embodiments, the boomassembly 3100 includes multiple middle sections 3104. The base section3102, the middle section 3104, and the fly section 3106 are eachslidably coupled to one another to facilitate varying an overall lengthof the boom assembly 3100. Specifically, the middle section 3104 isslidably coupled to the base section 3102, and the fly section 3106 isslidably coupled to the middle section 3104.

The boom assembly 3100 further includes a tool, manipulator, interfaceor implement, shown as implement 3120, coupled to a distal end of thefly section 3106. The implement 3120 may be pivotally coupled to the flysection 3106 such that the implement 3120 is pivotable relative to thefly section 3106 about a lateral axis. The implement 3120 may facilitateinterfacing the boom assembly 3100 with materials (e.g., wood, hay,building materials, etc.) or one or more operators or users. Theimplement 3120 may be powered (e.g., by pressurized hydraulic fluid froma hydraulic system) or unpowered. As shown in FIG. 72 , the implement3120 is a fork that handles a truss. In other embodiments, the implement3120 is a bucket, a material handling arm, a boom, a hook, a hopper, asweeper, a grapple, or another type of implement configured to handlematerial. In other embodiments, the implement 3120 is a work platformconfigured to support one or more operators. In some embodiments, theimplement 3120 is selectively coupled to the fly section 3106 such thatthe implement 3120 is interchangeable with other implements. By way ofexample, the forks shown in FIG. 72 may be removed and exchanged with abucket or work platform.

Referring to FIG. 72 , the boom assembly 3100 is articulated by a seriesof actuators. In some embodiments, the actuators are powered bypressurized hydraulic fluid (e.g., from a hydraulic system as controlledby the controller). The telehandler 3000 includes a pair of first linearactuators (e.g., hydraulic cylinders), shown as lift cylinders 3130. Alower end of each lift cylinder 3130 is coupled to the frame 3002, andan upper end of each lift cylinder 3130 is coupled to the base section3102. The lift cylinders 3130 are positioned on opposing sides of theboom assembly 3100 to facilitate an even distribution of the load of theboom assembly 3100. When the lift cylinders 3130 extend, the boomassembly 3100 is raised. When the lift cylinders 3130 retract, the boomassembly 3100 is lowered. Accordingly, the lift cylinders 3130 raise andlower the implement 3120 relative to the frame 3002.

The telehandler 3000 further includes a second linear actuator (e.g., ahydraulic cylinder), shown as telescoping cylinder 3140. A proximal endof the telescoping cylinder 3140 is coupled to the base section 3102,and a distal end of the telescoping cylinder 3140 is coupled to themiddle section 3104. When the telescoping cylinder 3140 is extended, themiddle section 3104 moves longitudinally outward from the base section3102. When the telescoping cylinder 3140 is retracted, the middlesection 3104 moves back into the base section 3102. A tensile member(e.g., a rope, a strap, a chain, etc.), shown as cable 3142, includes afirst end coupled to the base section 3102 and a second end that iscoupled to the fly section 3106. The cable 3142 extends from the basesection 3102, around a distal end of the middle section 3104, andattaches to a portion of the fly section 3106 that is received withinthe middle section 3104. Accordingly, when the telescoping cylinder 3140extends, moving the middle section 3104 outward, the middle section 3104applies a tensile force to the cable 3142, which draws the fly section3106 out of the middle section 3104. A similar cable arrangement may beutilized to retract the fly section 3106 into the middle section 3104when the middle section 3104 retracts into the base section 3102.Accordingly, the extension of the telescoping cylinder 3140 both (a)extends the middle section 3104 relative to the base section 3102 and(b) extends the fly section 3106 relative to the middle section 3104.Similarly, the retraction of the telescoping cylinder 3140 both (a)retracts the middle section 3104 relative to the base section 3102 and(b) retracts the fly section 3106 relative to the middle section 3104.Accordingly, the telescoping cylinder 3140 extends and retracts theimplement 3120 relative to the frame 3002.

The telehandler 3000 further includes a third linear actuator (e.g., ahydraulic cylinder), shown as tilt cylinder 3150. A proximal end of thetilt cylinder 3150 is coupled to the fly section 3106, and a distal endof the tilt cylinder 3150 is coupled to the implement 3120. When thetilt cylinder 3150 is retracted, the implement 3120 rotates in a firstdirection (e.g., downward) relative to the fly section 3106. When thetilt cylinder 3150 is extended, the implement 3120 rotates in a seconddirection (e.g., upward) relative to the fly section 3106. Accordingly,the tilt cylinder 3150 rotates the implement 3120 relative to the frame3002.

The telehandler 3000 further includes a pair of hydraulic cylinders,shown as compensating cylinders 3160. A lower end of each compensatingcylinder 3160 is coupled to the frame 3002, and an upper end of eachcompensating cylinder 3160 is coupled to the base section 3102. Thecompensating cylinders 3160 are positioned on opposing sides of the boomassembly 3100 to facilitate an even distribution of the load on the boomassembly 3100. When the lift cylinders 3130 extend, the boom assembly3100 is raised, forcing the compensating cylinders 3160 to extend. Thiscauses the compensating cylinders 3160 to expel hydraulic fluid from afirst chamber (e.g., a rod end chamber) and draw hydraulic fluid into asecond chamber (e.g., a cap end). When the lift cylinders 3130 retract,the boom assembly 3100 is lowered, forcing the compensating cylinders3160 to retract. This causes the compensating cylinders 3160 to expelhydraulic fluid from the second chamber and draw hydraulic fluid intothe first chamber. The compensating cylinders 3160 are fluidly coupledto the tilt cylinder 3150 such that as the boom assembly 3100 rises, thefluid from the compensating cylinders 3160 is provided to the tiltcylinder 3150, causing the tilt cylinder 3150 to rotate downwards.Similarly, as the boom assembly 3100 is lowered, the fluid from thecompensating cylinders 3160 is provided to the tilt cylinder 3150,causing the tilt cylinder 3150 to rotate upwards. This action causes theimplement 3120 to passively (e.g., without active intervention from amain control valve or a controller) maintain a consistent orientationrelative to the frame 3002 (e.g., and thereby relative to the ground andthe direction of gravity).

Attachment with Rollers

Referring to FIGS. 73-75 , the telehandler 3000 may be configured toattach with an implement assembly 3200 that includes the implement 3120,shown as forks 3220, and a carriage 3202. The implement assembly 3200includes the carriage 3202 as an intermediate member between the flysection 3106 and the forks 3220. The fly section 3106 is pivotally orrotatably coupled with the carriage 3202 at a rotatable coupling 3210.The tilt cylinders 3150 extend between the fly section 3106 and thecarriage 3202 and are configured to extend or retract to drive thecarriage 3202 to rotate or pivot relative to the rotatable coupling 3210at the end of the fly section 3106.

The forks 3220 are rotatably or pivotally coupled with the carriage 3202on a side of the carriage 3202 opposite the rotatable coupling 3210 atrotatable coupling 3212. The forks 3220 are configured to be insertedinto pallets 3204 upon which a stack of solar panels 16 rests (e.g., byoperating the telehandler 3000 to extend the fly section 3106 or todrive forwards). The forks 3220 facilitate removably coupling the pallet3204 with the telehandler 3000 so that the telehandler 3000 may removethe pallet 3204 and the stack of solar panels 16 from an interior of theshipping container 14. In some embodiments, the implement assembly 3200includes one or more actuators that are similar to the tilt cylinders3150 that extend between the carriage 3202 and the forks 3220 and extendor retract to drive the forks 3220 to rotate relative to the rotatablecoupling 3212.

The carriage 3202 includes wheels 3206 (e.g., rollers, tractiveelements, etc.) that are positioned on a bottom edge or bottom portionof the carriage 3202. The carriage 3202 may have an L-shape, with abottom leg of the carriage 3202 extending towards the telehandler 3000.The wheels 3206 are rotatably coupled with the carriage 3202 atcouplings 3208 and are configured to facilitate guiding the forks 3220and the carriage 3202 to ride along the floor of the shipping container14. The wheels 3206 facilitate proper alignment of the forks 3220 withone or more receiving portions or openings of the pallets 3240, whichmay be advantageous when visibility into the shipping container 14 isdifficult.

Referring particularly to FIG. 74 , the implement assembly 3200 mayinclude a pair of springs or hydraulics, shown as suspension members3224. The wheels 3206 may be pivotally coupled with a first end ofelongated members 3222, which are pivotally coupled at an opposite endwith the carriage 3202. The elongated members 3222 (e.g., linkages,frame members, etc.) and the suspension members 3224 provide asuspension for the wheels 3206 to allow the wheels 3206 to translateupwards and downwards (e.g., to float). The suspension provided by thesuspension members 3224 and the elongated members 3222 may be overriddenby operation of the telehandler 3000 to translate the implement assembly3200 downwards (e.g., towards the floor of the shipping container).

Referring to FIG. 75 , the forks 3220 may be inserted into the pallet3204, and then the carriage 3202 may be rotated clockwise relative tothe forks 3220 to facilitate securing the pallet 3204 on the forks 3220.The forks 3220 also includes a chamfered end 3226 to facilitateinserting the forks 3220 into the pallet 3204.

Attachment with Vision System

Referring to FIG. 76 , another embodiment of the implement assembly3200, shown as implement assembly 3300 may be similarly coupled with thefly section 3106 of the telehandler 3000 and includes a camera 3304positioned on top of a carriage 3302. The carriage 3302 may similarly bean intermediate member between the fly section 3106 and the fork 3220.The carriage 3302 includes the camera 3304 on the top, which isconfigured to obtain visual data (e.g., imaging data, video data, etc.)as the implement assembly 3300 is inserted into the shipping container14 and provide the visual data to a controller or processing circuit(e.g., controller 3402). In some embodiments, the implement assembly3300 also includes a ground sensor 3306 that is configured to measure adistance 3308 between a bottom portion of the carriage 3302 and a groundsurface, shown as floor 15 of the shipping container 14. The groundsensor 3306 is used to determine height and orientation of the forks3220 with respect to the floor 15. In some embodiments, data regardingthe distance 3308 provided by the ground sensor 3306 is used in closedloop control of the operation of the telehandler 3000 or drive systemsor actuators thereof to keep the distance 3308 constant.

It should be understood that the implement assembly 3300 may alsoinclude side wall sensors, ceiling sensors, etc., similar to the groundsensor 3306 but configured to measure in multiple directions to identifyorientation and/or position of the forks 3220 relative to interiorsurfaces of the shipping container 14. The visual data or imaging dataprovided by the camera 3304 and/or the data provided by the groundsensor 3306 may be used to determine a size of the pallet 3204, and tokeep the pallet 3204 from striking the ground, sides, ceiling, or otherobjects inside the shipping container 14 when the pallet 3204 is removedfrom the shipping container 14.

Referring to FIG. 77 , a control system 3400 for the implement assembly3300 includes a controller 3402 that is configured to obtain distancedata form the distance sensor 3306 and imaging data from the camera(s).In some embodiments, the controller 3402 is the same as or similar tothe controllers 102 as described in greater detail above. The controller3402 obtains the imaging data and the distance data and providesfeedback to a display 3408 (e.g., a display screen of the telehandler3000) and one or more drive systems 3410 of the telehandler 3000. Insome embodiments, the controller 3402 is configured to disablefunctionality of the telehandler 3000 in order to prevent a collision aspredicted or identified by the controller 3402 using the imaging dataprovided by the cameras 3304.

In some embodiments, the control system 3400 provides closed loopcontrol. The feedback provided to the display 3408 may include agraphical user interface (GUI) to guide an operator to operate thetelehandler 3000 to safely pick up pallets 3204 on the forks 3220. Thecontroller 3402 may provide notifications or alerts to the operatorincluding visual or audio feedback. The feedback may include hapticfeedback to the operator of the telehandler 3000 or vibrations. Theoperator may be positioned within the cabin 3004, or may be remote sothat the telehandler 3000 may be operated via the cloud computing system110. In some embodiments, any of the description of the controller 3402or the control system 3400 may be implemented by the cloud computingsystem 110 (e.g., remotely). The camera(s) 3304 and the distance sensors3306 also facilitate proper loading of the pallets 3204 onto thetransportation vehicle 20.

Graphical User Interface

Referring to FIG. 78 , a diagram 3500 illustrates a GUI that may bepresented to the operator of the telehandler 3000 to facilitate properoperation of the telehandler 3000 to align the forks 3220 with thepallets 3204. The diagram 3500 may be presented on the display 3408(e.g., within the cabin 3004) to facilitate proper relative alignment(e.g., in terms of position and orientation) of the forks 3220 relativeto the pallets 3204. The diagram 3500 includes a visualization of anideal container location (e.g., location of the pallets 3204 or locationof the shipping container 14) relative to the telehandler 3000 (orrelative to the forks 3220), shown as ideal position 3502. The diagram3500 also includes a visualization of a current container location(e.g., location of the pallets 3204 or location of the shippingcontainer 14) relative to the telehandler 3000 (or relative to the forks3220), shown as current position 3504. In some embodiments, thevisualizations that are shown as ideal position 3502 and currentposition 3504 are determined by the controller 3402 based on the imagingdata provided by the camera(s) 3304. In some embodiments, the camera(s)3304 include multiple cameras (e.g., an array of imaging devices) sothat depth information of the shipping container 14 may be determined bythe controller 3402 (e.g., so that the imaging data may include 3D dataor 3D geometry of the shipping container 14). The controller 3402 mayanalyze the orientation and location of the shipping container 14 or thepallets 3204 relative to the telehandler 3000 or the forks 3220.Misalignment between the current position 3504 and the ideal position3502 may be highlighted, shown as highlighting 3506 to notify theoperator of the telehandler 3000 that the telehandler 3000 is notproperly aligned. The highlighting 3506 may be red or orange if theideal position 3502 and the current position 3504 do not match (e.g.,within a range).

The diagram 3500 also includes a pair of roll arrows 3512, one of whichis highlighted with highlighting 3514 to indicate which direction thetelehandler 3000 should be rolled to facilitate proper alignment of thetelehandler 3000 relative to the shipping container 14. The diagram 3500also includes a pair of steering arrows 3508, one of which ishighlighted with highlighting 3510 to indicate which direction thetelehandler 3000 should be steered to facilitate proper alignment of thetelehandler 3000 relative to the shipping container 14. When thetelehandler 3000 and the shipping container 14 are properly aligned, orthe forks 3220 are properly aligned with the shipping container 14 orthe pallets 3204, all four edges of the current position 3504 and theideal position 3502 may be highlighted green or turn green to indicatethat the telehandler 3000 is properly aligned.

In some embodiments, the telehandler 3000 may be operated manually bythe operator based on the diagram 3500 presented to make the telehandler3000 align with the target (e.g., to make the forks 3220 align with thepallet 3204). In some embodiments, the telehandler 3000 is operatedsemi-autonomously (e.g., by the controller 3402) to automatically steer,tilt, or lift the implement assembly 3300 as the operator drivesforwards or reverse to align with the shipping container 14. In someembodiments, the telehandler 3000 is operated fully autonomously toalign and remove the pallets 3204 using inputs from the camera(s) 3304and/or the distance sensors 3306.

The display 3408 on which the diagram 3500 is presented may be a displayscreen (e.g., physically positioned within the cabin 3004), an operatorworn device, a heads-up display, an augmented reality (AR) device, avirtual reality (VR) device or headset, etc.

Container Fiducials

Referring to FIGS. 76 and 77 , the shipping container 14 may include oneor more guide members, reference points, visual indicators, etc., shownas fiducials 3602 positioned within the shipping container 14. Thecamera 3304 may capture image data that includes the fiducials 3602which may be used by the controller 3402 to determine a relativeposition and/or orientation of the telehandler 3000 relative to theshipping container 14. In some embodiments, the shipping container 14includes targets in corners that are standardized and have a knownlocation for surveying using lasers or cameras that are positioned onthe implement assembly 3300 (e.g., on the carriage 3302).

Solar Panel Clamping Mechanisms

According to an exemplary embodiment, solar panels may be installed by avehicle and/or manually at a solar panel installation via a mountingbracket. A solar panel installation generally includes a post supportinga frame member, such as a torque tube, to which the solar panels arecoupled by the clamps. The clamps may be positioned near an edge of thesolar panel such that the clamps are accessible via gaps between twoadjacent solar panels. The clamps may be mounted to panel-mountedsupports configured to engage with the clamps to secure the solar panelto the torque tube. According to an exemplary embodiment, duringinstallation a vehicle includes at least one manipulator to position asolar panel and/or a clamp on a torque tube and to interact with theclamp to couple the solar panel to the torque tube. The vehicle may be asemi-autonomous or autonomous vehicle for positioning and mounting thesolar panels.

Solar Panel Installation

Referring to FIGS. 79 and 80 , a solar panel installation (e.g., solarpanel array, photovoltaic array, etc.) is shown as array 4000, as seenfrom below and from a side, respectively, according to an exemplaryembodiment. As shown, the array 4000 includes multiple photovoltaic (PV)panels (e.g., solar panels, etc.) shown as solar panels 4016, coupled toa support member (e.g., a frame, beam, etc.) shown as torque tube 4026by an attachment mechanism (e.g., clamp, bracket, clip, connector, etc.)shown as clamp 4028. In some embodiments, the solar panels 4016 are thesame as solar panels 16 of FIGS. 1-3 . In some embodiments, the torquetube 4026 is the same as frame 26 of FIGS. 1-3 (e.g., the supportstructures 232). While the clamp 4028 is shown between the solar panel4016 and the torque tube 4026, in some embodiments the solar panel 4016rests directly on the torque tube 4026. The clamp 4028 may extendpartially into a frame 4018 of the solar panel 4016 and the torque tube4026 to couple the solar panel 4016 to the torque tube 4026. In someembodiments, spaced along torque tube 4026 are one or more groundsupport members (e.g., posts, columns, etc.), shown as posts 4032,elevating the torque tube 4026 and the solar panels 4016 off the groundwhile providing structural support.

In some embodiments, a gap (e.g., access section, uncovered area, etc.)shown as gap 4030 lies between adjacent solar panels 4016. The gap 4030provides access to the clamps 4028 from above, for example, by amanipulator of an installation vehicle to interact with the clamp 4028and couple the solar panel 4016 to the torque tube 4026 duringinstallation. Still in other embodiments, the clamp 4028 is accessiblefrom a side or a underneath the solar panels 4016 and there is no gap4030.

In some embodiments, the array 4000 includes one or more dampers(tethers, actuators, active stabilization systems, etc.) shown asdampers 4034. The dampers 4034 are coupled to the clamp 4028 and thetorque tube 4026 to provide passive and/or active stabilization to thearray 4000. The dampers 4034 may extend or contract to counteract forceson the solar panels 4016 and/or the torque tube 4026, such as wind andsnow, they could otherwise cause the array 4000 to fail. In someembodiments, the clamps 4028 are rotatable around the torque tube 4026,such that the solar panels 4016 may be positioned to track the sun.

In some embodiments, the torque tube may be configured in a non-standardshape such as square tubing, hex tubing, octagon tubing, etc. The torquetubing may be hollow and include mounting holes configured to receive afastener for coupling the clamp 4028 to the torque tube 4026.

Referring now to FIG. 81 , a cross-sectional view of array 4000 with aclamp 4028 is shown, according to an exemplary embodiment. As shown, theclamp 4028 includes a central shaft or tension member, shown as clampbolt 4040. The clamp bolt 4040 is secured in the torque tube 4026 by awasher 4042 and a nut 4044. The clamp bolt 4040 may include a retainer(e.g., lip, protrusion, etc.), shown as retainer 4046 which engages witha portion of a frame supporting the solar panel 4016, shown as frame4048, via a gap in the frame 4048, shown as gap 4050. The retainer 4046may be selectively raised and lowered (e.g., by twisting of the clampbolt 4040 by a manipulator of an installation vehicle) to selectivelyapply a compressive force to the frame 4048 of the solar panel 4016 andthereby secure the solar panel 4016 to the torque tube 4026. Forexample, the installation vehicle may include a tool, shown asinstallation driver 4052, which engages with a head of the clamp bolt,shown as clamp bolt head 4054, to rotate the clamp bolt 4040 in a firstdirection. The rotation of the clamp bolt 4040 in the first directionpulls the clamp bolt head 4054 towards nut 4044 in the y-direction, andcauses the retainer 4046 to engage with the frame 4048 of the solarpanel 4016. The clamp bolt 4040 may be installed in the torque tube 4026prior to the positioning of a solar panel 4016, after the installationof a first solar panel 4016, or after the positioning of both adjacentsolar panels 4016. For example, the clamp bolt 4040 may be preinstalledin the torque tube 4026 by a machine (e.g., an installation vehicle) ina first pass prior to the positioning of the solar panels 4016.

In some embodiments, the retainer 4046 includes a central raisedportion, shown as center 4056, that transitions to two flat portions atthe points the retainer 4046 engages with the frame 4048, shown asengagement sections 4058. The retainer 4046 may be selectively spread inthe x-direction by applying a downward force to the central raisedportion 4056 of the retainer 4046 in the z-direction to cause thecentral raised portion 4056 to deform and push the engagement sections4058 of the retainer 4046 out along the x-direction and into the gap4050 of the frame 4048. Still in other embodiments, the center 4056 andthe engagement sections 4058 of the retainer 4044 are made of a flexiblematerial (e.g., plastic, rubber, etc.) such that they may compress tofit through gap 4030 and then expand into gap 4050.

In some embodiments, one or more components of the clamp 4028 (e.g.,clamp bolt 4040, retainer 4046, etc.) may be installed through the gap4030 between the two adjacent solar panels 4016. For example, theretainer 4046 may be in its natural state narrow enough to fit throughthe gap 4030 between the solar panels 4016. After installation, thecompressive force applied to the center 4056 of the retainer 4046 causesit to expand laterally, and push the engagement sections 4058 into thegaps 4050 of the frame 4048 and thereby securing the solar panels 4016to the torque tube 4026. Still in other embodiments, the flexibleretainer 4046 may be stiff enough to provide compressive force to securethe solar panels 4016 to the torque tube 4026, but flexible enough to bepositioned through the gap 4030.

Still in other embodiments, one or more components of the clamp 4028(e.g., the clamp bolt 4040, the retainer 4046, etc.) are installed priorto the placement of one or more of the solar panels 4016. In suchembodiments, the gap 4030 between the solar panels 4016 may be smallenough such that only a tool (e.g., a tool of a manipulator of aninstallation vehicle) may pass through the gap 4030.

In some embodiments, the installation driver 4052 may also be used toinstall the clamp bolt 4040 into the torque tube 4026. The installationdriver 4052 may be engaged with the clamp bolt head 4054 and push theclamp bolt 4040, including the washer 4042 and the nut 4044 through ahole in the torque tube 4026, shown as mounting hole 4070, beforetightening the retainer 4046 onto the frames 4048.

FIGS. 82 and 83 illustrates a clamp 4028 of FIG. 3 configured with aself-retaining clip (e.g., Christmas tree clip. mounting clip, etc.),shown as clip 4060. Clip 4060 allows a solar panel to be pre-fitted withclamping mechanism prior to being installed on a torque tube, such thatall components may be installed as a single component.

Referring to FIG. 82 , the clip 4060 includes a central support, shownas trunk 4062 coupled to a body, shown as body 4068, of the clamp 4028,and a substantially conical shaped, partially-deformable head, shown ascap 4064. In some embodiments, the cap 4064 includes multiple brancheslike a tree, with each branch being able to flex and bend. The clip 4060may be installed in a hole, shown as clip hole 4066 in a frame 4048 of asolar panel 4016 to couple the clamp 4028 to the frame 4048. The cliphole 4066 may be narrower than the widest point of the cap 4064. The cap4064 is positioned with a narrow end of the cap 4064 against the cliphole 4066. When pressed the cap 4064 partially deforms and/or compressesto fit through the clip hole 4066. After passing through the clip hole4066 the partially-deformable head expands again such that the widerportion of the partially-deformable cap 4064 is adjacent the clip hole4066 and cannot easily pass through the clip 4060 again, such that theself-retaining clip secures itself to a member. The trunk 4062 extendsthrough the hole and couples to the body 4068. In some embodiments, thebody is the same or similar to retainer 4046. In some embodiments, theclip 4060 has a set breaking limit such that the clamp 4028 may beremoved by snapping the clip 4060.

Referring to FIG. 83 , a cross-section of the torque tube 4026 coupledto a clamp 4028 of FIG. 82 is shown, according to an exemplaryembodiment. As shown, the body 4068 of the clamp 4028 includes multipleclips 4066 for coupling the clamp 4028 to a frame 4048 (not shown) of asolar panel 4016. The body 4068 also includes one or more engagementsurfaces, shown as mounting surface 4072, positioned above the torquetube 4026 and shaped to mirror the profile of the torque tube 4026. Forexample, as shown the torque tube 4026 is an octagonal tube, and themounting surface 4072 of the clamp 4028 includes three faces parallelwith three corresponding faces of the octagonal torque tube 4026. Whileshown as an octagonal tube, the torque tube 4026 may be a pipe,three-sided tube, a square tube, a hex tube, etc., to provide supportand engagement surfaces for solar panels 4016 as well as resistance totorsion, and the mounting surface 4072 may contain one or morecorresponding faces to match the shape of the torque tube 4026. In someembodiments, the one or more faces of the mounting surface 4072 mayextend on at least partially along the sides of the torque tube 4026 andprovide lateral strength in the y-direction in addition to supportingstrength in the z-direction. Specifically, the faces of the mountingsurface 4072 on the side of the torque tube 4026 may resists twistingforces imparted on the clamp 4028 by the solar panels 4016.

As shown in FIG. 83 , the clamp 4028 is coupled to the torque tube 4026by the clamp bolt 4044. The clamp bolt 4044 passes through the mountinghole 4070 and is secured at a tube end by the nut 4044. In someembodiments, between the nut 4044 and the inside of the torque tube 4026is a washer 4042. The clamp bolt 4044 extends through the clamp 4028 inthe z-direction until it terminates at a second end in a clamp bolt head4054. In some embodiments, rotation of the clamp bolt 4044 tightens thenut 4044 and forces the body 4068 of the clamp 4028 against the torquetube 4026.

Referring to FIG. 84 , a cross-section of the torque tube 4026 is shownwith the clamp 4028 divided into a left clamp member 4028 a and a rightclamp member 4028 b, according to an exemplary embodiment. The leftclamp member 4028 a and the right clamp member 4028 b each include amounting surface 4072 a and 4072 b respectively for engaging with anouter surface of the torque tube 4026. The left clamp member 4028 a andthe right clamp member 4028 b may be coupled to a supporting frame ofthe solar panel 4016, shown as frame 4018, at tabs 4074 a and 4074 brespectively. The left clamp member 4028 a and the right clamp member4028 b are coupled together at their respective bottoms by a fastener4076 (e.g., a bolt, a clip, a tack weld, two “right hands”, etc.). Asshown the left clamp member 4028 a and the right clamp member 4028 b atleast partially surround the torque tube 4026 and are further heldtogether by a bolt mechanism, which includes a bolt, shown as bolt 4080and bolt ends 4082 a and 4082 b. In some embodiments, the bolt 4080 is athreaded or partially-threaded rod that connects the bolt ends 4082 aand 4082 b. The bolt ends 4082 a and 4082 b are coupled proximate thetabs 4074 a and 4074 b respectively and thereby apply a compressiveforce on the mounting surfaces 4072 a and 4072 b to grab the torque tube4026. In some embodiments, the torque tube 4026 includes one or morefaces matched by the mounting surfaces 4072 a and 4072 b that whenengaged with by the left clamp member 4028 a and the right clamp member4028 b prevent rotation of the clamp 4028 about the torque tube 4026.

According to an exemplary embodiment, the clamp 4028 may be installed ina piece-wise fashion by an autonomous or semi-autonomous installationvehicle. For example. the left clamp member 4028 a may be positionedwith its mounting surface 4072 a against the torque tube first and thenthe right clamp member 4028 b may be positioned with its mountingsurface 4072 b against the torque tube 4026. The left clamp member 4028a and the right clamp member 4028 b may be loosely held together by abolt 4080 at a top of the left and right clamp members 4028 a and 4028b. The fastener 4076 may then connect the left and right clamp members4028 a and 4028 b at a bottom of the torque tube 4026. The solar panel4016 is then placed between the left and right bolt ends 4082 a and 4082b and the bolt 4080 is tightened at the left or right bolt end 4082 a,4082 b to secure the solar panel 4016 in place relative to the clamp4028 and the torque tube 4026. The split design of the clamp 4028 allowsthe clamp 4028 to be installed on the torque tube 4026 after the torquetube 4026 is installed at a location. For example, an autonomous orsemi-autonomous installation vehicle may install the clamp 4028 prior toor during the installation of the solar panels 4016.

Referring now to FIGS. 85 and 86 , a cross-section of the torque tube4026 is shown with the clamp 4028 divided into an upper clamp member4092 and a lower clamp member 4090. The upper clamp member 4092 and thelower clamp member 4090 may be placed around the torque tube 4026 toencapsulate the torque tube 4026 and couple the clamp 4028 to the torquetube 4026. In some embodiments, the lower clamp member 4090 is initiallyattached to a bottom of the torque tube 4026 by one or more temporaryattachment mechanisms (e.g., magnets, adhesive, hook and loop, tackweld, etc.). The upper clamp member 4092 may be positioned on the torquetube 4026 above the lower clamp member 4090 and coupled to the lowerclamp member 4090 via one or more fasteners, shown as clamp bolts 4040.At a top of the clamp bolts 4040 are clamp bolt heads 4054 which engagewith a tool (not shown) to rotate the clamp bolts 4040 and couple theupper clamp member 4092 to the lower clamp member 4090, such that theclamp 4028 at least partially surrounds a circumference of the torquetube 4026. In some embodiments, as the upper clamp member 4092 isfastened to the lower clamp member 4090 the temporary attachmentmechanism used to attach the lower clamp member 4090 to the torque tube4026 breaks away. As shown, in some embodiments the clamp 4028 entirelysurrounds the torque tube 4026. The upper clamp member 4092 includes oneor more mounting points for a solar panel 4016 (not shown) such that thesolar panel is thereby coupled to the torque tube via the top. In suchembodiments, once coupled with the top of the clamping mechanism thetemporary attachment mechanism holding the bottom to the bottom of thetorque tube may detach. In some embodiments, after the lower clampmember 4090 and the upper clamp member 4092 are at least partiallycoupled together, the position of the clamp 4028 on the torque tube 4026may be adjusted (e.g., by an autonomous or semi-autonomous vehicle) toposition the clamp 4028 as needed to fit a solar panel 4016. In someembodiments, the solar panel 4016 is coupled to the upper clamp member4092 by one or more fasteners.

Referring now to FIGS. 87 and 88 , the clamp 4028 is configured as anoverlapping clamp, including a base clamp member 4102 and a lappingclamp member 4104. The base clamp member 4102 is coupled proximate afirst side of a solar panel 4016 and the lapping clamp member 4104 iscoupled proximate a second side of solar panel 4016. Therefore, as shownin FIG. 88 , at a gap between adjacent solar panels 4016 a and 4016 b,the base clamp member 4102 is coupled to a first solar panel 4016 a viaone or more fasteners (e.g., bolts, screws, rivets, welds, clips, etc.)and the lapping clamp member 4014 is coupled to a second solar panel4016 b in the same manner, creating a complete pair and thereby formingclamp 4028. The clamp 4028 is coupled to the torque tube 4026 via one ormore studs coupled to the torque tube, shown as bolt 4040. The bolt 4040may be a blind threaded stud. In some embodiments, the bolt 4040 iscoupled (e.g., inserted, welded, etc.) by a machine (e.g., installationvehicle 22) into the torque tube 4026. The clamp 4028 is installed in astep-wise manner. First the base clamp member 4012 is positioned abovethe bolts 4040 on the torque tube 4026. In some embodiments, the bolts4040 are positioned before the clamp 4028, in some embodiments, thebolts 4040 are installed after the clamp 4028 is in place. In someembodiments, after the base clamp member 4012 is positioned, the lappingclamp member 4104 is positioned on top of a portion of the base clampmember 4102, and onto the same bolts 4040, thus lapping the base clampmember 4102. In some embodiments, the base clamp member 4102 and thelapping clamp member 4104 are coupled to the solar panels 4016 a and4016 b, respectively, prior to being installed on the torque tube 4026.Still in other embodiments, the base clamp member 4102 and the lappingclamp member 4104 are installed before the solar panels 4016 a and 4016b are coupled to the completed clamp 4028.

According to an exemplary embodiment, the clamp 4028 may be installed byan autonomous or semi-autonomous vehicle (installation vehicle 22). Insome embodiments, the installation vehicle includes a manipulator. Themanipulator may install one or more studs (e.g., bolts 4040) to thetorque tube 4026. The manipulator may install the base clamp member 4102on the studs. The solar panel 4016 a is then installed on a side of thestuds. The manipulator may install another set of bolts 4040 on thetorque tube 4026. The manipulator may install the lapping clamp member4104 on first set of studs. The solar panel 4016 b may then beinstalled, at which point the manipulator may fasten a nut, shown as nut4108, on the bolts 4040 to secure the base clamp member 4102 and thelapping clamp member 4104 to the torque tube 4026. In some embodiments,base clamp member 4102 and the lapping clamp member 4104 are coupled tothe solar panels 4016 a and 4016 b prior to the base clamp member 4102or the lapping clamp member 4104 being installed (e.g., via aself-retaining clip). In some embodiments, an installation vehicle maycontinuously place a solar panel with the base clamp member 4102 on afirst side and the lapping clamp member 4104 on a second side so thatthe lapping clamp member 4104 laps a base clamp member 4102 on apreceding solar panel, while the base clamp member 4102 on the currentsolar panel is positioned to start a new clamp 4028.

Referring now to FIGS. 89 and 90 , the clamp 4028 is configured as asplit clamp with an inner clamp member 4122 and an outer clamp member4124. As shown, an individual solar panel 4016 includes an inner clampmember 4122 on a first side and an outer clamp member 4124 on a secondside. The outer clamp member 4124 is a c-shaped member with a partiallyenclosed space configured to receive the inner clamp member 4122. Inoperation, an outer clamp member 4124 of a first solar panel 4016 a iscoupled to a torque tube 4026 via fasteners in one or more mountingholes, shown as mounting holes 4126. In some embodiments, the mountingholes 4126 are pre-dilled into the torque tube 4026. In someembodiments, the fasteners are self-tapping screws which form themounting holes 4126 as the clamp 4028 is installed. In some embodiments,the fasteners are pre-installed rivet nuts. In some embodiments, amanipulator of a vehicle (e.g., installation vehicle 22) installs therivet nuts prior to the installation of the solar panels. In someembodiments, the fasteners are pre-installed studs on the torque tube4026.

As shown in FIG. 89 , the inner clamp member 4122 and the outer clampmember 4124 are coupled proximate opposing sides of a solar panel 4016.In some embodiments, the inner clamp member 4122 and the outer clampmember 4124 are installed at a factory. Still in other embodiments theinner clamp member 4122 and the outer clamp member 4124 are installed onat installation site.

As shown in FIG. 89 the torque tube 4026 may include a flat uppersurface to support the solar panels 4016 a and 4016 b. As describedabove in some embodiments the torque tube 4026 is a square tube. Howeverthe torque tube 4026 may be other shapes includes a hex tube, anoctagonal tube, etc.

Referring to FIG. 90 , a flow diagram of a process 4500 for installingsolar panels at a location (e.g., a solar installation) includes steps4502-4508, according to an exemplary embodiment. In some embodiments,the process 4500 may be performed to autonomously or semi-autonomouslyinstall solar panels at an installation.

The process 4500 includes installing a first half of a clampingmechanism (e.g., left clamp member 4028 a or right clamp member 4028 b,lower clamp member 4090 or upper clamp member 4092, an inner clampmember 4122 or outer clamp member 4124 etc.) (step 4502). In someembodiments, the first half is coupled to a support infrastructure(e.g., torque tube 4026) of a solar installation. The process 4500includes installing a second half of a clamping mechanism (e.g., leftclamp member 4028 a or right clamp member 4028 b, lower clamp member4090 or upper clamp member 4092, an inner clamp member 4122 or outerclamp member 4124 etc.) (step 4504). In some embodiments, the first halfis placed on top of the second half. In some embodiments the first halfis placed within the second half. Still in other embodiments the firsthalf is placed adjacent to the second half. The process 4500 includescoupling the first half of the clamping mechanism to the second half ofthe clamping mechanism (step 4506). In some embodiments, the halves arecoupled at a bottom, for example as shown in FIG. 84 . In someembodiments, the halves are additionally and/or alternatively coupled ata top, such as for example a bolt 4080 with bolt ends 4082 a and 4082 b.In some embodiments, the clamping mechanism is a single component (e.g.,clamp 4028 of FIGS. 81-83 ) and steps 4502-4506 are combined. Process4500 includes coupling a solar panel to the clamping mechanism (step4508). In some embodiments, a solar panel (e.g., solar panel 4016) iscoupled to the clamping mechanism by a retainer of the clampingmechanism (e.g., retainer 4046). In some embodiments, the solar panel iscoupled by a self-retaining clip (e.g., clip 4060). In some embodiments,the solar panel is coupled to the clamping mechanism by a bolt mechanism(e.g., bolt 4080 and bolt ends 4082 a and 4082 b.

In some embodiments, the solar panel is coupled to a first half of theclamping mechanism prior to the second half of the clamping mechanism.For example, the solar panel may be coupled to the first half of theclamping mechanism before the first half of the clamping mechanism iscoupled to the torque tube. Still in other embodiments, the solar panelsmay be positioned first, and the clamping mechanism may be installedafter. In some embodiments, prior to step 4508 the clamping mechanismmay be repositioned on the torque tube to properly align with the solarpanel.

In alternative embodiments, the solar panel installation of the presentdisclosure includes a clamping mechanism which is divided betweenadjacent solar panels, and only completed when the both adjacent panelsare in position. The clamping mechanism may include a lower clampingmechanism coupled to a leading edge of a first solar panel (or aframe/subframe of the solar panel) and an upper clamping mechanismcoupled to a trailing edge of a second solar panel. The first solarpanel is positioned first, such that the lower clamping mechanismreceives one or more studs coupled to the torque tube. The second solarpanel is then positioned such that the upper clamping mechanism receivesthe same studs as the lower clamping mechanism and is accordinglypositioned at least partially on top of the lower clamping mechanism.The overlapping clamping mechanism is then secured to the torque tube bya retaining fastener (e.g., a nut) on the studs extending through boththe lower clamping mechanism and the upper clamping mechanism.

In alternative embodiments, the solar panel installation of the presentdisclosure includes a clamping mechanism divided between adjacent solarpanels into an inner clamping mechanism and an outer clamping mechanismat least partially surrounding the inner clamping mechanism wheninstalled. The inner and outer clamping mechanism may be installedindividually on respective sides of a solar panel, such that a firstsolar panel is positioned with one of the inner clamping mechanism orthe outer clamping mechanism on its leading edge. The torque tube mayinclude mounting holes aligned with the portion of the clampingmechanism and configured to receive a fastener to secure the first solarpanel to the torque tube. A second solar panel is positioned adjacentthe first solar panel and includes on its trailing edge the otherportion of the clamping mechanism (e.g., the inner clamping mechanism orthe outer clamping mechanism) not found on the leading edge of the firstsolar panel. The inner clamping mechanism and the outer clampingmechanism may be installed on the solar panels prior to installation.

Autonomous Jobsite Control

FIG. 91 depicts a perspective view of an environment 5000, according toan exemplary embodiment. The environment 5000 may include at least oneAutonomous Delivery Vehicle (ADV) 5005, at least one Autonomous WorkingVehicle (AWV) 5010, at least one Autonomous Robotic Arm (ARA) 5015, andat least one network. The environment 5000 may be and/or include atleast one of an installation site, a jobsite, a construction site, asolar panel field, a solar panel farm, and/or among various otherpossible locations. In some embodiments, at least one of the ADV 5005,the AWV 5010, and/or the ARA 5015 may be and/or include the variousvehicles described herein. For example, the ADV 5005 may be or includethe transportation vehicle 20, the delivery vehicle 2000, the deliveryvehicle 2800, or any of the other delivery vehicles or transportationvehicles described herein. The AWV 5010 may be or include theinstallation vehicle 22, the AWV 700, or any of the other installationvehicles or working vehicles described herein. The ARA 5015 may be orinclude the implement 745, the robotic arm 244, the track 482, thegrabber assembly 760, or any other implements, robotic arms, tracks, orgrabber assemblies described herein. In one embodiment, the ADV 5005represents the delivery vehicle 2800, the AWV 5010 represents the AWV700, and the ARA 5015 represents the implement 745.

Accordingly, at least one of the ADV 5005, the AWV 5010, and/or the ARA5015 may include similar systems, components, and/or devices to that ofthe various vehicles described herein. For example, the ADV 5005 mayinclude the controller 102. In some embodiments, the ADV 5005, the AWV5010, and/or the ARA 5015 may communicate with one another similar tothe various communication methods described herein. FIG. 91 depicts anexample of the ADV 5005 and the AWV 5010 located proximate to another.The location of the ADV 5005 and the location of the AWV 5010, as shownin FIG. 91 , depicts an example of the ADV 5005 and the AWV 5010 havingestablished a virtual dock. The virtual dock may be and/or include atleast one of a placement, an orientation, an arrangement, and/orotherwise a positioning of the ADV 5005 and the AWV 5010 relative to oneanother. For example, the virtual dock may include a predeterminedposition of the AWV 5010 for which the ADV 5005 may then align with suchthat a solar panel carried by the ADV 5005 is accessible by the ARA5015.

The ADV 5005 may include at least one carrier (e.g., the carrier 2100),at least one primary mover, and at least one processing circuit (e.g.,the controller 102). The carrier may be movably coupled with a chassisof the ADV 5005. For example, the carrier may tilt, rotate, pivot,and/or otherwise adjust a pitch of the carrier relative to the chassisof the ADV 5005. The ADV 5005 may be controllable by the processingcircuit. For example, the ADV 5005 may include the controller 102 andthe controller 102 may control various components and/or movements ofthe ADV 5005. In some embodiments, the controller 102 may generatecontrol signals that cause the primary mover (e.g., engine, barrier,motor, etc.) to move the ADV 5005. The processing circuit of the ADV5005 may determine locations of the ADV 5005. For example, theprocessing circuit may determine a location of the ADV 5005 relative toa location of the AWV 5010. The processing circuit of the ADV 5005 maycontrol the ADV 5005 to move from a first location to a second location.For example, the processing circuit may move the ADV 5005 from a pick-upsite (e.g., a location of solar panels, a location with the unloadingmachinery 18) to an install site (e.g., a location of the AWV 5010).

The AWV 5010 may include at least one arm or boom, at least one primarymover, and at least one processing circuit. The boom (e.g., the boomassembly 702) may be coupled with a moveable element of the AWV 5010.For example, the AWV 5010 may include a turntable (e.g., a moveableelement, the turntable 409, etc.) and the boom may be coupled with theturntable. The boom of the AWV 5010 may move separately from themoveable element. For example, the boom may include a series of elementslinked with one another and the elements may articulate, pivot, adjust,and/or otherwise move relative to the moveable element. The processingcircuit of the AWV 5010 (e.g., a controller 102) may control the variouscomponents of the AWV 5010. For example, the processing circuit mayprovide control signals to the moveable element that cause the moveableelement to rotate about a given axis. The processing circuit may alsocontrol the AWV 5010 to move the AWV 5010 from a first location to asecond location. For example, the AWV 5010 may move between installsites (e.g., move from the first location to the second location).

The ARA 5015 may include at least one linkage or manipulator (e.g., thetrack 482, the robotic arm 456, etc.), at least one grabbing mechanism(e.g., the grabber assembly 760), and at least one processing circuit(e.g., the controller 772). The manipulator may couple the ARA 5015 tothe AWV 5010. For example, the manipulator may couple the ARA 5015 withthe boom of the AWV 5010. The manipulator may move separately from theAWV 5010. For example, the manipulator may rotate, pivot, swivel, and/orother move relative to the boom. The grabbing mechanism may be and/orinclude at least one of a clasp, a claw, a grabber, a coupling device,and/or among various other possible devices. The grabbing mechanism mayselectively couple with at least one solar panel 16. For example, thegrabbing mechanism may couple with a solar panel 16 to remove the solarpanel 16 from the ADV 5005 and decouple from the solar panel 16responsive to ARA 5015 and/or an operator installing the solar panel 16.The processing circuit of the ARA 5015 may control the variouscomponents of the ARA 5015. For example, the processing circuit maycontrol the linkages of the ARA 5015 to adjust, change, update, and/oralter a position the grabbing mechanism. The processing circuit may alsocontrol the ARA 5015.

As shown in FIG. 91 , the ADV 5005, the AWV 5010, and the ARA 5015 incommunication with a cloud computing system, shown as fleet managementservice (FMS) 5020. The FMS 5020 may be part of the cloud computingsystem 110. The FMS 5020 may utilize data provided by the ADV 5005, theAWV 5010, the ARA 5015, and/or one or more users (e.g., through userdevices) and develop commands for operating the ADV 5005, the AWV 5010,and the ARA 5015. The FMS 5020 may seek to optimize the flow of thesolar panel installation process such that the speed of solar panelinstallation is maximized. The ADV 5005, the AWV 5010, the ARA 5015, andthe FMS 5020 may communicate directly with one another (e.g., throughone or more wired or wireless interfaces) and/or indirectly with oneanother (e.g., forming a mesh communication). Although FIG. 91 shows theenvironment 5000 as containing one of each of the ADV 5005, the AWV5010, and the ARA 5015, the environment 5000 may contain one or more ofeach element.

FIG. 92 depicts a block diagram of a system 5100, according to anexemplary embodiment. The system 5100 may include at least one solarfield management 5102 (e.g., the FMS 5020), at least one solar field5104 (e.g., the environment 5000), a series of installation machines5106 (e.g., the ADVs 5005, the AWVs 5010, the ARAs 5015, etc.), at leastone communication service (e.g., a network), and at least onelocalization service. The solar field management 5102 may be implementedas and/or included in a cloud computer center, a remote server, a remotedatabase, and/or a central hub. For example, the solar field management5102 may be included in the cloud computing system 110. The solar fieldmanagement 5102 may receive various inputs from at least one user. Forexample, the solar field management 5102 may interface with a userdevice (e.g., a phone, a computer, a tablet, a laptop, an infotainmentsystem, a computing device, etc.) and the user device may provideinformation to the solar field management 5102. The solar fieldmanagement 5102 and the installation machines 5106 may communicate viaat least one of a communication service and/or a localization service.

The solar field management 5102 may collect data corresponding to thesolar field. For example, the solar field management 5102 may obtaininformation from the installation machines 5106 (e.g., the ADV 5005, theAWV 5010, and the ARA 5015) as tasks are executed and/or completed. Forexample, the ARA 5015 may provide an indication to the solar fieldmanagement 5102 responsive to the installation of a solar panel 16 inthe solar field. The indication may include a location where the solarpanel 16 was installed.

The solar field management 5102 may control vehicle usage. For example,the solar field management 5102 may provide signals (e.g., commands) tothe installation machines 5106 to indicate install initiation (e.g.,when the installation of a solar panel 16 is initiated), installcompletion (e.g., when the installation of a solar panel 16 iscompleted), install location (e.g., the location where the solar panel16 is installed), and/or install updates (e.g., changes to the plannedsolar installation timeline). The signals may cause the installationmachines 5106 to perform at least one of the various tasks describedherein.

The solar field management 5102 may dispatch installation machine 5106to destinations. For example, the solar field management 5102 mayprovide a location of an install site (e.g., a site to install a solarpanel) to the installation vehicles. The installation vehicles maytravel to the install site responsive to receiving the location of theinstall site.

The solar field management 5102 may recall the installation machines5106. For example, the solar field management 5102 may provide signalsto the installation machines 5106 to indicate that they may return. Thesignals may be provided upon completion of a given number of installs(e.g., a given number of installed solar panels 16). The signals mayalso be provided responsive to a change in the solar field. For example,the solar field management 5102 may transmit the signals to theinstallation machines 5106 after a location of an install site haschanged. The solar field management 5102 may also direct theinstallation machines 5106 to charging stations, refuel stations,equipment pickup sites (e.g., solar panel storage areas, such as thelocation of a shipping container 14).

The solar field management 5102 may also organize vehicle maintenance.For example, the solar field management 5102 may receive telematicsinformation from the installation machines 5106 (e.g., sensor dataindicative of a current status of the vehicle, such as runtime,emissions, current component positions, etc.) and the solar fieldmanagement 5102 may detect, determine, and/or otherwise identifyequipment faults. For example, the solar field management 5102 maydetect that the ARA 5015 is no longer responding to requests and thesolar field management 5102 may direct the AWV 5010 to return so thatthe ARA 5015 may undergo maintenance.

The solar field management 5102 may also generate paths. For example,the solar field management 5102 may generate paths for the installationmachines 5106 to take. The paths may be and/or include an indication ofstep-by-step directions, a series of moves to be performed, a route,and/or a series of actions to be performed by the installation machines5106. The paths may also indicate a location of a subsequent installsite upon completion of a solar panel install. For example, theinstallation machines 5106 may receive paths from a first solar panelinstall location to a second solar panel location.

The solar field management 5102 may also monitor the solar field. Forexample, the solar field management 5102 may interface with, interactwith, and/or otherwise communicate with the solar panels 16 located inthe solar field. The solar field management 5102 may receive operationinformation form the solar panels 16. For example, the solar fieldmanagement 5102 may receive information indicating an amount of energyabsorbed by the solar panels 16, energy output (e.g., voltage, current)of the solar panels 16, etc.

The movement and/or operations of the installation machines 5106 may beand/or include a leader and a follower. Two or more of the installationmachines 5106 may utilize sensor data (e.g., process locally on theprocessing circuits of the installation machines 5106) to determine acontrol scheme that maintains a consistent distance between theinstallation machines 5106. A first vehicle may be assigned the role ofleader, and a second vehicle may be assigned the role of follower. Thesecond vehicle may use sensor data (e.g., from sensors onboard the firstvehicle or the second vehicle) to determine a movement of first vehicle(e.g., driving forward a distance) and determine a control scheme thatcauses the second vehicle to mimic the movement of the first vehicle(e.g., driving forward the same distance). For example, the ADV 5005 maybe a leader (e.g., a vehicle that moves first) and the AWV 5010 may bethe follower (e.g., a vehicle that follows behind the leader). Theleader and follower process may also include a first vehicle moving by afirst amount and a second vehicle then also moving by the first amount.By constantly maintaining a set distance between the two vehicles, theAWV 5010 can easily and predictably retrieve solar panels 16 from theADV 5005.

FIG. 93 depicts a flow diagram of a process 5200 or method ofcommunicating information between various vehicles, according to anexemplary embodiment. In some embodiments, at least one step of theprocess 5200, shown in FIG. 93 , may be performed by the variousvehicles described herein. For example, the AWV 5010 may perform atleast one step of the process 5200 shown in FIG. 93 . The various stepsof the process 5200 may be adjusted, modified, altered, rearranged,separated, combined, updated, and/or otherwise changed. For example, agiven step of the process 5200 may be separated in one or more steps. Asanother example, a first given step and a second given step may becombined into a single step.

The process 5200 includes an initial setup step, in which theinstallation machines 5106 are placed within the environment 5000,calibrated, tested, and made ready to operate. The FMS 5020 is providedwith data describing the jobsite and a high-level installation plan(e.g., an approximate number of solar panels to be installed and area tobe covered).

The process 5200 may include a selection of an install area. Forexample, a user (e.g., an installation foreman) may interact with thesolar field management 5102 (e.g., through a user device such as asmartphone or tablet) to provide an indication of a selection of theinstall area. The selection of the install area may include the userproviding a location, size, and/or shape of the install area, selectingan icon including in an interactive map including a series of installareas, selecting a zone including a series of install sites, and/oramong various possible combinations.

The process 5200 involves the FMS 5020 determining the location of eachvehicle and each solar panel 16. This may be determined based on sensordata from the vehicle and/or the selection of the install area.

The process 5200 may include a vehicle receiving a location (e.g., a GPSlocation) from the FMS 5020. For example, the AWV 5010 may receive thelocation of the install area from the solar field management 5102. Insome embodiments, the AWV 5010 may receive the location responsive tothe solar field management 5102 determining the location for variousinstallation machines 5106.

The process 5200 may include a development of a path for one or morevehicles. For example, the processing circuit of the AWV 5010 maygenerate a path that the AWV 5010 may travel from a first location tothe location that was received from the solar field management 5102. TheAWV 5010 may determine the path based on the location of the AWV 5010and the location of the install area. For example, the AWV 5010 maydetermine a series of movements that the AWV 5010 may perform to move tothe install area.

The process 5200 may include a confirmation of a strategy (e.g., a pathor movement strategy). For example, the AWV 5010 may provide, to thesolar field management, the generated path to the install area. Thesolar field management 5102 may receive, from a user device,confirmation (e.g., acceptance) of the strategy. For example, the userinteracting with the solar field management 5102 may accept a promptincluding the generated path. The AWV 5010 may receive an indicationthat the generate path has been accepted from the solar fieldmanagement.

The process 5200 may include a vehicle navigating. For example, the AWV5010 may navigate from a first location (e.g., a current location of theAWV 5010) to the install area. The AWV 5010 may navigate from the firstlocation to the install area based on the generated path. The AWV 5010may provide, to the solar field management, an indication that the AWV5010 is navigating towards the install area.

The process 5200 may include a determination of an orientation of avehicle. For example, the AWV 5010 may determine, based on informationgenerated by one or more sensors disposed on the AWV 5010, a placementand/or an orientation of the AWV 5010 relative to the install area. Theplacement of the AWV 5010 may include a location of at least onecomponent of the AWV 5010. For example, the placement may include aposition of the arm of the AWV 5010. The placement of the AWV 5010 mayalso include an orientation of a chassis of the AWV 5010.

The process 5200 may include receiving a signal to indicate that the AWV5010 may move. For example, the solar field management 5102 may providea signal to the AWV 5010 to indicate that the arm of the AWV 5010 maymove from a retracted position to an extending position. The AWV 5010receiving the signal may cause the AWV 5010 to control and/or otherwisemove the arm of the AWV 5010 in accordance to a position that wasindicated in the signal.

The process 5200 may include the AWV 5010 communicating with the ARA5015 and/or another End of Arm Tooling (EOAT) device coupled to the AWV5010. The EOAT may be any type of implement coupled to the AWV 5010. TheEOAT and the AWV 5010 may have separate controllers that communicatewith one another. For example, the AWV 5010 may provide a request of alocation of the ARA 5015 relative to the AWV 5010. The AWV 5010 mayprovide the request responsive the AWV 5010 moving a given component.For example, the AWV 5010 may provide the request responsive to theturntable of the AWV 5010 moving.

The process 5200 may include a verification of a location. For example,the ARA 5015 may verify its location based on information that may begenerated by one or more sensors disposed on the ARA 5015. To continuethis example, the ARA 5015 may receive GPS information from the sensorsand the ARA 5015 may use the GPS information to verify a location of theARA 5015.

The process 5200 may include a position verification loop. The positionverification loop may include the ARA 5015 sending signals to the AWV5010 to have the AWV 5010 perform a given movement. For example, the ARA5015 may send a signal, to the AWV 5010, to request that the AWV 5010move in a given direction. The position verification loop may alsoinclude the AWV 5010 moving based on the request provided by the ARA5015. For example, the AWV 5010 may move forward responsive to the ARA5015 requesting that the AWV 5010 move forward.

The process 5200 may include a location request. For example, the ARA5015 may provide a request, to the solar field management 5102, for theADV 5005 to travel to a given location. The request may include alocation for the ADV 5005 to travel relative to the ARA 5015. Forexample, the request may include the ARA 5015 asking that the ADV 5005travel to a given location proximate to the ARA 5015.

The process 5200 may include a confirmation of the location request. Forexample, the solar field management 5102 may receive the locationrequest from the ARA 5015 and the solar field management 5102 may acceptthe location request. By way of example, a user may confirm the locationrequest through a user device. The solar field management 5102 acceptingthe request may include the confirmation of the location request.

The process 5200 may include a transmission of the location request. Forexample, the solar field management 5102 may transmit the locationrequest to ADV 5005. The solar field management 5102 manage may transmitthe location request responsive to the confirming the location request.The solar field management 5102 may provide a location of the AWV 5010and/or the ARA 5015 to the ADV 5005. Along with the location, the solarfield management 5102 may provide instructions for the ADV 5005 tonavigate to the ARA 5015. For example, the solar field management 5102may provide the location of the ARA 5015 that was previously determined.

The process 5200 may include a vehicle traveling to a site. For example,the ADV 5005 may travel to the location of the AWV 5010 responsive tothe ADV 5005 receiving the location request from the solar fieldmanagement. The ADV 5005 may generate and/or determine a path to take toreach the location of the AWV 5010.

The process 5200 may include a vehicle arriving at a site. For example,the ADV 5005 may travel from a first location to the location of the AWV5010. The ADV 5005 may arrive at the site (e.g., the location of the AWV5010) responsive to the ADV 5005 traveling along the path generated bythe ADV 5005.

The process may include establishing a virtual dock. For example, theADV 5005 and/or the AWV 5010 may perform one or more movements and/orone or more actions to position, situate, and/or otherwise place oneanother in a predefined relative orientation similar to the one shown inFIG. 91 . Once in the virtual dock configuration, the ADV 5005 mayperform the leader-follower process described herein to maintain therelative distance and orientation of the ADV 5005 and the AWV 5010.

FIG. 94 depicts a flow diagram of a process 5300 or method ofcommunicating information between various vehicles, according to anexemplary embodiment. In some embodiments, at least one step of theprocess 5300, shown in FIG. 94 , may be performed by the variousvehicles described herein. For example, the AWV 5010 (e.g., processingcircuitry thereof) may perform at least one step of the process shown inFIG. 94 . In some embodiments, the various steps shown in FIG. 94 may beperformed in conjunction with and/or in combination with various stepsdescribed herein. For example, the various steps shown in FIG. 94 may beperformed in conjunction with the various steps shown in FIG. 93 . Thevarious steps of the process 5300 may be adjusted, modified, altered,rearranged, separated, combined, updated, and/or otherwise changed. Forexample, a given step of the process 5300 may be separated in one ormore steps. As another example, a first given step and a second givenstep may be combined into a single step.

The process 5300 includes an initial setup step, in which theinstallation machines 5106 are placed within the environment 5000,calibrated, tested, and made ready to operate. The FMS 5020 is providedwith data describing the jobsite and a high-level installation plan(e.g., an approximate number of solar panels to be installed and area tobe covered).

The process 5300 may include a selection of a loading point. Forexample, a user interacting with the solar field management 5102 (e.g.,through a user device) may provide a selection of solar panel loadingsite (e.g., a location to retrieve solar panels from). The user may alsoprovide additional points and/or areas of the solar field. For example,the user may provide, to the solar field management, a list ofrestricted areas that the ADV 5005 is instructed to avoid, a waitingarea where the ADV 5005 is instructed to wait when idle, a list ofpreviously completed areas, a list of occupied areas, and/or variouspossible combinations and/or alternatives.

The process 5300 may include receiving a parameter. For example, thesolar field management 5102 may receive the various informationdescribed above responsive to the user interacting with the solar fieldmanagement. The solar field management 5102 may store, keep, hold,and/or other maintain the parameter that was received. For example, thesolar field management 5102 may store the parameter in a databased.

The process 5300 may include generating a path. For example, the solarfield management 5102 may generate at least one path based on theparameters received from the user. The solar field management 5102 maygenerate a path for a given ADV 5005. For example, the solar fieldmanagement 5102 may generate a path to a solar panel loading site.

The process 5300 may include a confirmation of a path. For example, thepath generated by the solar field management 5102 may be provided to auser and the user may confirm the path (e.g., through an input to a userinterface). The user may provide an indication of the selection. Forexample, the user may select an icon included in a user interface andthe selection of the icon may provide the indication to the solar fieldmanagement.

The process 5300 may include generating a second path. For example, thepath previously generated by the solar field management 5102 may berejected by the user. The solar field management 5102 may generate asecond path responsive to receiving the rejection of the previouslygenerated path.

The process 5300 may include confirmation of the second path. Forexample, the second path generated by the solar field management 5102may be provided to the user that rejected the previously generated pathand the user may confirm the second path (e.g., through the userdevice).

The process 5300 may include a determination of a vehicle to be loaded.For example, the solar field management 5102 may determine (e.g.,identify) a given ADV 5005 to be loaded with solar panels 16. The solarfield management 5102 may determine the given ADV 5005 based on alocation of one or more ADV 5005. For example, the solar fieldmanagement 5102 may determine the given ADV 5005 responsive to the solarfield management 5102 determining that the given ADV 5005 is closet to aloading site.

The process 5300 may include dispatching a first vehicle. For example,the given ADV 5005 that was selected (e.g., determined by the solarfield management) may travel towards the loading site. The given ADV5005 may travel to the loading site based on at least one of the pathsgenerated by the solar field management. For example, the given ADV 5005may travel based on the second path.

The process 5300 may include receiving commands. For example, the givenADV 5005 that was selected may receive position commands to indicate aposition and/or a placement for the given ADV 5005 to be aligned toreceive one or more solar panels. For example, the commands may includeand/or identify a given loading dock that the ADV 5005 should be locatedproximate to.

The process 5300 may include arriving at the loading site. For example,the given ADV 5005 may arrive at the loading dock to receive the solarpanels. The given ADV 5005 may also transmit a signal, to the solarfield management 5102 (e.g., to a user device associated with a yardtechnician), to indicate that the given ADV 5005 is ready to receive thesolar panels. The signal may also include the location and/or theposition of the ADV 5005.

The process 5300 may include sending receiving permission to loadequipment. For example, the solar field management 5102 may provide anindication to an operator of a loading vehicle that the solar panels maybe loaded onto the ADV 5005. The permission to load the equipment may bereceived responsive to the solar field management 5102 providing theindication.

The process 5300 may include loading the vehicle. For example, the ADV5005 may receive and/or otherwise be loaded with the solar panels. TheADV 5005 may include at least one carrier and the carrier may receive,hold, support, and/or otherwise secure the solar panels on the ADV 5005.While the ADV 5005 is loaded with solar panels 16, the ADV 5005 may belocked and prevented from moving (e.g., to facilitate alignment of thesolar panels with the ADV 5005).

The process 5300 may include securing equipment to the vehicle. Forexample, the carrier may include at least one post and the post may bemoveably coupled with a body of the carrier. To continue this example,the post may move from a first position to a second position and thepost moving to the second position may secure the solar panels to theADV 5005.

The process 5300 may include receiving confirmation to exit a site. Forexample, the ADV 5005 may provide, to the solar field management 5102,an indication that the solar panels 16 are loaded and secured to the ADV5005. The ADV 5005 may receive, responsive to providing the indication,confirmation that the ADV 5005 may exit the loading site. By way ofexample the solar field management 5102 may send a request forconfirmation to a user device associated with a yard technician, and theyard technician may provide an input indicating permission for the ADV5005 to exit the loading site.

The process 5300 may include traveling to an install site. This portionof the process 5300 may be substantially similar to a correspondingportion of the process 5200. For example, the ADV 5005 may receive, fromthe solar field management 5102, a location of a AWV 5010, and the ADV5005 may travel from its current location to the location of the AWV5010. The location of the AWV 5010 may be and/or include a solar panelinstall location (e.g., an install site). The ADV 5005 may travel to thelocation of the install site responsive to the ADV 5005 generating apath to the AWV 5010.

The process 5300 may include arriving at the install site. For example,the ADV 5005 may arrive at the install site responsive to the ADV 5005performing one or more moves included in the path that was generated bythe ADV 5005. The ADV 5005 arriving to the install site may result inthe ADV 5005 and the AWV 5010 establishing a virtual dock. The ADV 5005and/or the AWV 5010 may communicate, responsive to establishing thevirtual dock, to the solar field management 5102 that they are ready toinstall solar panels.

FIG. 95 depicts a flow diagram of a process 5400 or method ofcommunicating information between various vehicles, according to anexemplary embodiment. In some embodiments, at least one step of theprocess 5400, shown in FIG. 95 , may be performed by the variousvehicles described herein. For example, the AWV 5010 may perform atleast one step of the process 5400 shown in FIG. 95 . In someembodiments, the various steps shown in FIG. 95 may be performed inconjunction with and/or in combination with various steps describedherein. For example, the various steps shown in FIG. 95 may be performedin conjunction with the various steps shown in FIG. 93 . The varioussteps of the process 5400 may be adjusted, modified, altered,rearranged, separated, combined, updated, and/or otherwise changed. Forexample, a given step of the process 5400 may be separated in one ormore steps. As another example, a first given step and a second givenstep may be combined into a single step.

The process 5400 may include establishing a virtual dock. For example,the ADV 5005 may arrive a location proximate to the AWV 5010. The ADV5005 arriving at a location proximate to the AWV 5010 may establish thevirtual dock. The ADV 5005 may establish the virtual dock by at leastone of situating, positioning, orienting, and/or otherwise aligning withthe AWV 5010. The ADV 5005 and/or the AWV 5010 may provide, to the solarfield management, an indication that the virtual dock has beenestablished.

The process 5400 may include transmitting parameters. For example, thesolar field management 5102 may provide to at least one of the ADV 5005,the AWV 5010, and/or the ARA 5015 operating signals and/or operatingparameters. The operating signals may indicate that the vehicles (e.g.,the ADV 5005, the AWV 5010, and the ARA 5015) are authorized and/orapproved to begin interaction with one another. For example, the solarfield management 5102 may provide a signal that indicates thatinstallation of solar panels may begin.

The process 5400 may include sharing location information. For example,the solar field management 5102 may receive location information formthe vehicles and the solar field management 5102 may provide thelocation information to each of the vehicles so that the vehicles areprovided with the position of each respective vehicle. The solar fieldmanagement 5102 may provide signals to the vehicles (e.g., the ADV 5005,the AWV 5010, and the ARA 5015) to indicate one or more movements forthe vehicles. For example, the solar field management 5102 may provide asignal to the ADV 5005 to indicate that the ADV 5005 move towards theAWV 5010.

The process 5400 may include verifying information. For example, the ARA5015 may provide, to the solar field management 5102, an indication thatthe ARA 5015 with keep, hold, and/or otherwise maintain its currentposition as the ADV 5005 and/or the AWV 5010 move relative to oneanother. For example, the ARA 5015 may maintain the location of itsvarious components that were included in the locations provided to theADV 5005 and the AWV 5010. The ARA 5015 may also verify that the ARA5015 will not interfere with movement of the ADV 5005 or the AWV 5010.

The process 5400 may include providing and receiving an indication. Forexample, the solar field management 5102 may provide an indication tothe ADV 5005, the AWV 5010, and the ARA 5015 that a first solar panelmay be providing to a clamp location (e.g., an install point for thefirst solar panel). The indication may be received responsive to the ARA5015 verifying that it will maintain its previous communicated position.The ARA 5015 may also provide the indication to a user device associatedwith an installation technician. The ARA 5015 may hold position until aconfirmation from the installation technician is received by the userdevice, the confirmation enabling the ARA 5015 to proceed with pickingup the solar panel 16.

The process 5400 may include providing equipment install locations. Forexample, the solar field management 5102 may provide, to the ARA 5015,an indication of a given solar panel 16 to retrieve from the ADV 5005and an indication of where the solar panel 16 is located. The solarfield management 5102 may further provide to the ARA 5015 a location forwhere the given solar panel 16 may be placed and/or located after thesolar panel is retrieved. The indication may include a location and/oran identification of where the ARA 5015 may position the given solarpanel for installation.

The process 5400 may include moving towards a piece of equipment. Forexample, the ARA 5015 may move, relative to the ADV 5005 and/or the AWV5010, towards and/or proximate to the given solar panel by at least oneof pivoting, spinning, rotating, extending, retracting, lengthening,and/or shortening. The ARA 5015 may also provide movement notificationsto the ADV 5005. For example, the ARA 5015 may communicate with the ADV5005 as the ARA 5015 approaches and/or is otherwise positioned proximateto the ADV 5005.

The process 5400 may include receiving confirmation to engage with thepiece of equipment. For example, the ADV 5005 may provide, to the ARA5015, confirmation that the ARA 5015 may retrieve, engage with, and/orotherwise obtain the given solar panel 16 from the ADV 5005. The ADV5005 may provide the confirmation responsive to the ADV 5005 determiningthat the ADV 5005 is secured and/or otherwise stable (e.g., as shown inFIG. 40 ).

The process 5400 may include execution of a maneuver. For example, theARA 5015 may pivot, swing, rotate, and/or otherwise move to position thegrabbing mechanism 760 proximate to the given solar panel 16. If the ARA5015 determines that the grabbing mechanism 760 is insufficiently closeto the solar panel 16 to fully engage, the ARA 5015 may adjust the postof the grabbing mechanism 760 until an acceptable pose is achieved. Thegrabbing mechanism may, responsive to execution the maneuver, may engagewith and/or otherwise grab the given solar panel 16.

The process 5400 may include moving the solar panel 16 to an installlocation. For example, the ARA 5015 may move from the location proximateto the ADV 5005 (e.g., the initial location of the solar panel 16) to alocation of the install site (e.g., a clamp location for the given solarpanel). The ARA 5015 may move to the install location responsive toexecution of at least one maneuver.

The process 5400 may include receiving confirmation to release the pieceof equipment. For example, the ARA 5015 may receive, from the solarfield management 5102, an indication that the given solar panel 16 hasbeen installed at the clamp location. By way of example, in response tothe ARA 5015 reaching the clamp location, the solar field management5102 may provide a notification to a user device associated with aninstallation technician. The installation technician may install thesolar panel 16 at the desired location. The installation technician maythen interact with the user device to confirm that the solar panel 16has been successfully installed. The ARA 5015 may receive thisindication and determine that the solar panel 16 has been installed.

The process 5400 may include releasing the piece of equipment. Forexample, the grabbing mechanism 760 may disengage with and/or otherwiserelease the solar panel 16. The ARA 5015 may release the given solarpanel responsive to the ARA 5015 receiving confirmation to release thegiven solar panel. Using one or more sensors (e.g., a camera), the ARA5015 may confirm that the solar panel 16 has been successfully released.

The process 5400 may include recording information associated withinstallation of the piece of equipment. For example, the ARA 5015 mayinclude a camera and the camera may capture and/or otherwise recordinformation associated with installing the solar panel 16. The ARA 5015may capture at least one of a picture of the install site, a modelnumber of the given solar panel, a communication protocol for the givensolar panel, a manufacturer of the given solar panel, performancemetrics of the given solar panel, operating parameters of the givensolar panel, and/or various other possible information pertaining to thegiven solar panel. The information captured by the ARA 5015 may beprovided to the solar field management 5015 and recorded.

The process 5400 may include reading the ARA 5015 to install anothersolar panel 16. By way of example, the ARA 50515 may move away from theinstallation location and provide a notification to the solar filedmanagement 5102 that the ARA 5015 is ready to place another solar panel16.

The process 5400 includes verifying that the ADV 5005 and the AWV 5010are ready to install another solar panel 16. The solar filed management5102 may verify that the ADV 5005 and the AWV 5010 are ready to move(e.g., not currently occupied with another task). The solar panelmanagement 5012 may monitor the amount of solar panels 16 present on theADV 5005 (e.g., using one or more sensors, such as a camera or scale)and determine if the ADV 5005 has another solar panel 16 ready forinstallation.

The process 5400 may include repositioning the ADV 5005 and the AWV5010. The solar panel management 5012 may provide the AWV 5010 withinstructions for navigating to the next installation location. The ADV5005 may maintain the virtual dock with the AWV 5010, such that the ADV5005 moves with the AWV 5010 to the next installation location. Once inposition, the ADV 5005 and the AWV 5010 notify that they are in positionto install the next solar panel 16. The process 5400 may then berepeated to install additional solar panels 16.

FIG. 95 further illustrates a process 5500 or method that may be usedduring the process 5400 to provide a feedback-based retrieval andplacement of the solar panels 16 by the ARA 5015. In the process 5500,the solar filed management 5102 provides the ARA 5015 with a pickupposition (e.g., a pick location) of a solar panel 16 on the ADV 5005 anda desired installation position (e.g., a place location) of the solarpanel 16. The ARA 5015 moves toward the pickup position, tracking anydiscrepancies between the actual position of the ARA 5015 and the pickupposition, and compensating for any such discrepancies. The ARA 5015supplies a record of any such discrepancies to the solar filedmanagement 5102. When the ARA 5015 has reached the pickup position, theARA 5015 controls the grabber assembly 760 to engage the solar panel 16and begins moving toward the installation position. As the ARA 5015moves toward the installation position, the ARA 5015 tracks anydiscrepancies between the actual position of the ARA 5015 and theinstallation position, and compensating for any such discrepancies. TheARA 5015 supplies a record of any such discrepancies to the solar filedmanagement 5102. When the ARA 5015 reaches the installation position,the ARA 5015 places the solar panel 16 in the installation position.

When the process 5500 is repeated, the solar field management 5102provides both sets of recorded discrepancies to the ARA 5015 along withthe pickup position and the desired installation position for the nextsolar panel 16. Using the recorded discrepancies as feedback, the ARA5015 modifies the control method to minimize discrepancies wheninstalling the next solar panel 16. Accordingly, the process 5500facilitates the system learning from past control errors an minimizingfuture control errors.

Configuration of the Exemplary Embodiments

As utilized herein, the terms “approximately,” “about,” “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the disclosure as recited inthe appended claims.

It should be noted that the term “exemplary” and variations thereof, asused herein to describe various embodiments, are intended to indicatethat such embodiments are possible examples, representations, orillustrations of possible embodiments (and such terms are not intendedto connote that such embodiments are necessarily extraordinary orsuperlative examples).

The term “coupled” and variations thereof, as used herein, means thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent or fixed) or moveable (e.g.,removable or releasable). Such joining may be achieved with the twomembers coupled directly to each other, with the two members coupled toeach other using a separate intervening member and any additionalintermediate members coupled with one another, or with the two memberscoupled to each other using an intervening member that is integrallyformed as a single unitary body with one of the two members. If“coupled” or variations thereof are modified by an additional term(e.g., directly coupled), the generic definition of “coupled” providedabove is modified by the plain language meaning of the additional term(e.g., “directly coupled” means the joining of two members without anyseparate intervening member), resulting in a narrower definition thanthe generic definition of “coupled” provided above. Such coupling may bemechanical, electrical, or fluidic.

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below”) are merely used to describe the orientation of variouselements in the figures. It should be noted that the orientation ofvarious elements may differ according to other exemplary embodiments,and that such variations are intended to be encompassed by the presentdisclosure.

The hardware and data processing components used to implement thevarious processes, operations, illustrative logics, logical blocks,modules and circuits described in connection with the embodimentsdisclosed herein may be implemented or performed with a general purposesingle- or multi-chip processor, a digital signal processor (DSP), anapplication specific integrated circuit (ASIC), a field programmablegate array (FPGA), or other programmable logic device, discrete gate ortransistor logic, discrete hardware components, or any combinationthereof designed to perform the functions described herein. A generalpurpose processor may be a microprocessor, or, any conventionalprocessor, controller, microcontroller, or state machine. A processoralso may be implemented as a combination of computing devices, such as acombination of a DSP and a microprocessor, a series of microprocessors,one or more microprocessors in conjunction with a DSP core, or any othersuch configuration. In some embodiments, particular processes andmethods may be performed by circuitry that is specific to a givenfunction. The memory (e.g., memory, memory unit, storage device) mayinclude one or more devices (e.g., RAM, ROM, Flash memory, hard diskstorage) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent disclosure. The memory may be or include volatile memory ornon-volatile memory, and may include database components, object codecomponents, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present disclosure. According to anexemplary embodiment, the memory is communicably connected to theprocessor via a processing circuit and includes computer code forexecuting (e.g., by the processing circuit or the processor) the one ormore processes described herein.

The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media may be anyavailable media that may be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media may comprise RAM, ROM, EPROM, EEPROM, orother optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which may be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which may be accessed by a general purpose orspecial purpose computer or other machine with a processor. Combinationsof the above are also included within the scope of machine-readablemedia. Machine-executable instructions include, for example,instructions and data which cause a general purpose computer, specialpurpose computer, or special purpose processing machines to perform acertain function or group of functions.

Although the figures and description may illustrate a specific order ofmethod steps, the order of such steps may differ from what is depictedand described, unless specified differently above. Also, two or moresteps may be performed concurrently or with partial concurrence, unlessspecified differently above. Such variation may depend, for example, onthe software and hardware systems chosen and on designer choice. Allsuch variations are within the scope of the disclosure. Likewise,software implementations of the described methods could be accomplishedwith standard programming techniques with rule-based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps, and decision steps.

What is claimed is:
 1. A solar panel installation system comprising: a solar panel unloading machine; a solar panel carrier machine; and a solar panel installation machine; wherein: the solar panel unloading machine is configured to autonomously interact with a shipping device carrying a plurality of solar panels to unload the plurality of solar panels from the shipping device and autonomously transfer the plurality of solar panels to the solar panel carrier machine; the solar panel carrier machine is configured autonomously transport the plurality of solar panels to a location proximate where the plurality of solar panels are to be installed; and the solar panel installation machine is configured to autonomously pick up a respective solar panel of the plurality of solar panels from the solar panel carrier machine and autonomously provide the respective solar panel to an installation location where the respective solar panel can be secured to a solar panel support.
 2. The solar panel installation system of claim 1, wherein the shipping device is a shipping container or a trailer.
 3. The solar panel installation system of claim 1, wherein the solar panel unloading machine includes a first wireless communications interface, the solar panel carrier machine includes a second wireless communications interface, and the solar panel installation machine includes a third wireless communications interface, wherein the first wireless communications interface and the second wireless communications interface are configured to facilitate first wireless communications between the solar panel unloading machine and the solar panel carrier machine, and wherein the second wireless communications interface and the third wireless communications interface are configured to facilitate second wireless communications between the solar panel carrier machine and the solar panel installation machine.
 4. The solar panel installation system of claim 3, wherein at least a portion of at least one of the first wireless communications or the second wireless communications passes through a remote server.
 5. The solar panel installation system of claim 3, wherein the second wireless communications include leader-follower signals to coordinate motion between the solar panel installation machine and the solar panel carrier machine as the solar panel installation machine picks up each solar panel of the plurality of solar panels from the solar panel carrier machine and provides each solar panel to a corresponding installation location.
 6. The solar panel installation system of claim 1, wherein the solar panel unloading machine includes: a boom assembly; a carriage pivotably coupled to an end of the boom assembly; and a pair of forks coupled to the carriage, the pair of forks configured to engage with a pallet or support structure upon which the plurality of solar panels are disposed.
 7. The solar panel installation system of claim 6, wherein the carriage includes: a first portion extending beneath the end of the boom assembly; and a second portion extending substantially perpendicular to the first portion, wherein the second portion is pivotably coupled to the end of the boom assembly.
 8. The solar panel installation system of claim 7, wherein the pair of forks are pivotably coupled to the second portion.
 9. The solar panel installation system of claim 7, wherein the solar panel unloading machine includes an actuator extending between the end of the boom assembly and the second portion of the carriage.
 10. The solar panel installation system of claim 7, wherein the carriage includes a plurality of rollers coupled to the first portion.
 11. The solar panel installation system of claim 10, wherein each of the plurality of rollers includes a wheel, a linkage extending between the first portion of the carriage and the wheel, and a suspension member extending between the linkage and the first portion of the carriage.
 12. The solar panel installation system of claim 1, wherein the solar panel carrier machine includes a carrier having a first end, an opposing second end, a first side, and an opposing second side, the carrier defining a stowage area configured to receive the plurality of solar panels, the carrier including: a base; a headboard coupled to and extending upward from the base, the headboard positioned proximate the first end; a first side support coupled to one of the base or the headboard, the first side support positioned proximate the first side; a second side support coupled to one of the base or the headboard, the second side support positioned proximate the opposing second side; and a barrier coupled to at least one of the base or the headboard, at least a portion of the barrier positioned proximate the opposing second end.
 13. The solar panel installation system of claim 12, wherein the solar panel carrier machine includes a chassis, wherein the base of the carrier is pivotably coupled to the chassis at a pivot point, and wherein the solar panel carrier machine includes an actuator positioned to facilitate pivoting the carrier relative to the chassis about the pivot point.
 14. The solar panel installation system of claim 12, wherein at least one of (a) the barrier is repositionable between a deployed barrier position and a stowed position to facilitate varying access to the stowage area or (b) the barrier is repositionable to adjust a depth of the carrier.
 15. The solar panel installation system of claim 12, wherein at least one of the first side support or the second side support is repositionable to adjust a width of the carrier.
 16. The solar panel installation system of claim 12, wherein the first side support and the second side support are selectively couplable to the base and the headboard to provide different configurations of the carrier including (a) a first configuration where the first side support and the second side support are coupled to the base and (b) a second configuration where the first side support and the second side support are coupled to the headboard, wherein, in the first configuration, at least a portion of the first side support and the second side support extends upward from the base, and wherein, in the second configuration, at least the portion of the first side support and the second side support extends from the headboard towards the opposing second end.
 17. The solar panel installation system of claim 1, wherein the solar panel installation machine includes: a second boom; and an implement coupled to an end of the second boom, the implement including: a track; a robotic arm coupled to and translatable along the track; and a grabber assembly coupled to the robotic arm, the grabber assembly configured to engage with and facilitate picking up the respective solar panel.
 18. The solar panel installation system of claim 17, wherein the grabber assembly includes a plurality of suction interfaces.
 19. A solar panel installation system comprising: a solar panel unloading machine configured to unload a plurality of solar panels from a shipping device, the solar panel unloading machine including: a first boom; a carriage pivotably coupled to an end of the first boom; a plurality of rollers positioned along a bottom portion of the carriage; and a pair of forks coupled to the carriage, the pair of forks configured to engage with a pallet or support structure upon which the plurality of solar panels are disposed; a solar panel carrier machine configured to receive the plurality of solar panels unloaded by the solar panel unloading machine and transport the plurality of solar panels to a location proximate where the plurality of solar panels are to be installed, the solar panel carrier machine including a carrier defining a stowage area configured to receive the plurality of solar panels, wherein at least one of a width or a depth of the carrier is adjustable to facilitate varying a size of the stowage area, and wherein an angle of orientation of the carrier is adjustable; and a solar panel installation machine configured to pick up a respective solar panel of the plurality of solar panels from the solar panel carrier machine and provide the respective solar panel to an installation location where the respective solar panel can be secured to a solar panel support, the solar panel installation machine including: a second boom; and an implement coupled to an end of the second boom, the implement including: a track; a robotic arm coupled to and translatable along the track; and a grabber assembly coupled to the robotic arm, the grabber assembly configured to engage with and facilitate picking up the respective solar panel.
 20. A solar panel installation system comprising: a solar panel unloading machine including a first wireless communications interface; a solar panel carrier machine including a second wireless communications interface; and a solar panel installation machine including a third wireless communications interface; wherein: the solar panel unloading machine is configured to unload a plurality of solar panels from a shipping device; the first wireless communications interface and the second wireless communications interface are configured to facilitate first wireless communications between the solar panel unloading machine and the solar panel carrier machine so that the solar panel unloading machine can transfer the plurality of solar panels to the solar panel carrier machine; the solar panel carrier machine is configured transport the plurality of solar panels to a location proximate where the plurality of solar panels are to be installed; and the second wireless communications interface and the third wireless communications interface are configured to facilitate second wireless communications between the solar panel carrier machine and the solar panel installation machine to coordinate motion between the solar panel installation machine and the solar panel carrier machine as the solar panel installation machine (a) picks up each solar panel of the plurality of solar panels from the solar panel carrier machine and (b) provides each solar panel to a corresponding installation location to be secured to a solar panel support. 